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Revenue (Tables)
 12 Months Ended
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]  
Contract Assets and Contract Liabilities From Contracts With Customers
The following table provides information about contract assets and contract liabilities from contracts with customers:
 December 31, 2022December 31, 2021December 31, 2020
Contract assets$11,074 $11,440 $15,020 
Contract liabilities - current256,933 227,549 184,845 
Contract liabilities - non-current19,879 21,513 13,921