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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Costs and estimated earnings in excess of billings on uncompleted contracts (contract assets) $ 32,265 $ 24,334
Billings in excess of costs and estimated earnings on uncompleted contracts (contract liabilities) (4,108) (4,718)
Net under billings $ 28,157 $ 19,616