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Revenue (Tables)
3 Months Ended
Mar. 31, 2024
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, 2024 (in thousands):
March 31, 2024December 31, 2023Decrease
$%
Accrued revenue$1,935 $1,801 
Costs and estimated profits in excess of billings10,488 13,365 
Contract assets - current12,423 15,166 
Contract assets - noncurrent1,070 1,828 
Contract assets$13,493 $16,994 $(3,501)(21)%
Deferred revenue$10,276 $10,551 
Billings in excess of costs and profits recognized4,480 4,221 
Contract liabilities$14,756 $14,772 $(16)— %