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Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Total stock-based compensation expense | $ 3,490 | $ 3,785 | $ 10,257 | $ 9,356
Cost of sales - contracts |  |  |  |
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Total stock-based compensation expense | 32 | 72 | 116 | 256
Selling, general and administrative |  |  |  |
Obligation with Joint and Several Liability Arrangement [Line Items] |  |  |  |
Total stock-based compensation expense | $ 3,458 | $ 3,713 | $ 10,141 | $ 9,100

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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