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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($)
$ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 194,308 $ 223,995
Allowance for doubtful accounts (5,059) (5,226)
Accounts receivable, net $ 189,249 $ 218,769
Allowance for doubtful accounts as a percentage of total accounts receivable 3.00% 2.00%
Trade    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 137,020 $ 145,540
Unbilled revenue    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 26,973 29,679
Contract assets    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 26,005 42,599
Other    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 4,310 $ 6,177