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Revenue (Tables)
3 Months Ended
Mar. 31, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Changes in Contract Assets and Contract Liabilities
The following table reflects the changes in our contract assets and contract liabilities balances for the three months ended March 31, 2023 (in thousands):
March 31, 2023December 31, 2022Decrease
$%
Accrued revenue$671 $665 
Costs and estimated profits in excess of billings14,538 15,139 
Contract assets - current15,209 15,804 
Contract assets - noncurrent2,413 2,638 
Contract assets$17,622 $18,442 $(820)(4)%
Deferred revenue$13,420 $14,401 
Billings in excess of costs and profits recognized421 305 
Contract liabilities$13,841 $14,706 $(865)(6)%