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Significant agreements - Revenue recognition due to changes in contract assets and liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Significant agreements        
Revenue recognized based on proportional performance $ 2,676 $ 5,006 $ 21,126 $ 13,829
Revenue recognized based on expiration of material rights   346 10,576 7,816
Revenue recognized based on changes in transaction price     (135)  
Total $ 2,676 $ 5,352 $ 31,567 $ 21,645