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Supplemental balance sheet and cash flow information (revenue in excess of billings) (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Revenue in excess of billings    
Conditional right to receive consideration $ 26,482 $ 26,520
Unconditional right to receive consideration [1] 10,211 12,241
Revenue in excess of billings $ 36,693 $ 38,761
[1] Represents revenues that are earned but not currently billable under the related contract terms.