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Revenue from Contracts with Customers - Contract balances (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Contract balances    
Receivables, inclusive of trade and unbilled $ 38,154 $ 65,132
Contract Assets (current and non-current) 5,708 4,642
Contract Liabilities (Deferred Revenue current and non-current) 57,281 $ 70,906
Revenue recognized that was included in the balance sheet $ 43,100  
Minimum    
Contract balances    
The amount of time contract assets are transferred to receivables 2 years  
Maximum    
Contract balances    
The amount of time contract assets are transferred to receivables 5 years