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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Costs and estimated earnings in excess of billings on uncompleted contracts (contract assets) $ 34,069 $ 29,431
Billings in excess of costs and estimated earnings on uncompleted contracts (contract liabilities) (8,370) (8,871)
Net under billings $ 25,699 $ 20,560