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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($)
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Contract Assets      
Costs and estimated earnings in excess of billings, less allowance for credit losses $ 28,554,000   $ 27,211,000
Contract Liabilities      
Billings in excess of costs and estimated earnings and deferred revenue 696,371,000   $ 548,293,000
Revenue related to our contract liabilities 449,500,000 $ 268,000,000.0  
Impairment losses $ 0 $ 0