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Revenue Recognition - Additional Information (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
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Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items] |  |
Receivables, included in trade receivables | $ 97,716 | $ 135,973
Unbilled receivables | 102,597 | 140,318
Performance obligation | 65,800 |
Receivables (Included in Trade Receivables) |  |
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items] |  |
Receivables, included in trade receivables | 97,700 | 136,000
Unbilled receivables | $ 58,700 | $ 96,500

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