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Accrued and Other Liabilities (Tables)
 6 Months Ended
Jun. 30, 2023
Payables and Accruals [Abstract]  
Schedule of Accrued Liabilities
The components of accrued and other liabilities were as follows:
June 30, 2023December 31, 2022
Accrued compensation and benefits
$69,465 $74,079 
Miscellaneous accrued liabilities
27,084 27,023 
Customer contract liabilities6,019 5,661 
Total accrued and other liabilities
$102,568 $106,763