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REVENUE AND RECEIVABLES - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Contract Assets and Liabilities |  |  |
Contract Asset - current | $ 3,616 | $ 2,932 |
Change in contract asset - current | $ 684 |  |
% of change in contract asset - current | 23.30% |  |
Contract Asset - noncurrent | $ 5,509 | 3,775 |
Change in contract asset - noncurrent | $ 1,734 |  |
% of change in contract asset - noncurrent | 45.90% |  |
Contract liability- current | $ (30,990) | (27,284) |
Change in contract liabilities - current | $ (3,706) |  |
% of change in contract liabilities - current | 13.60% |  |
Contract liability- noncurrent | $ (64,035) | (72,543) |
Change in contract liabilities - noncurrent | $ 8,508 |  |
% of change in contract liabilities - Noncurrent | (11.70%) |  |
Net contract liability | $ (85,900) | (93,120) |
Change in net contract liability | $ 7,220 |  |
% of change in net contract liability | (7.80%) |  |
Revenue recognized related to contract liability | $ 27,600 | 25,100 |
Amortization of contract assets | $ 3,000 | 3,600 |
Revenue recognized in the period related to performance obligations that were satisfied or partially satisfied in previous periods |  | $ 0 | $ 0

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