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Revenue from Contracts with Customers - Contracts In Progress (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Revenue earned on uncompleted contracts $ 718,366 $ 752,564
Less: Billings to date (715,111) (766,690)
Net underbilling (overbilling) 3,255 (14,126)
Costs in excess of billings and estimated earnings 39,772 31,894
Billings in excess of costs and estimated earnings $ (36,517) $ (46,020)