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Revenue from Contracts with Customers - Contracts in Progress (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Revenue earned on uncompleted contracts $ 758,450 $ 752,564
Less: Billings to date (737,296) (766,690)
Net underbilling (overbilling) 21,154 (14,126)
Costs in excess of billings and estimated earnings 47,447 31,894
Billings in excess of costs and estimated earnings $ (26,293) $ (46,020)