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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 190,551 | $ 171,439
Allowance for doubtful accounts | (4,471) | (8,304)
Accounts receivable, net | $ 186,080 | $ 163,135
Allowance for doubtful accounts as a percentage of total accounts receivable | 2.00% | 5.00%
Trade |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 116,434 | $ 109,294
Unbilled revenue |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | 24,389 | 23,173
Contract assets |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | 39,755 | 35,870
Other |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 9,973 | $ 3,102

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