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Revenue - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Costs in excess of billings | $ 52,035 | $ 41,732 | $ 54,437
Contract with customer liability | (3,941) | (4,572) | (3,681)
Billings in excess of costs |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract with customer liability | $ (44,735) | $ (35,017) | $ (46,711)

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