Contract balances (Details 2) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Contract assets	$ 179,282		$ 179,282		$ 154,144
Change in contract assets			25,138
Contract liabilities - current	(166,268)		(166,268)		(168,361)
Change in contract liabilities - current			2,093
Contract liabilities - noncurrent	(438)		(438)		(6)
Change in contract liabilities - noncurrent			(432)
Net contract assets (liabilities)	12,576		12,576		$ (14,223)
Change in net contract assets (liabilities)			26,799
Amounts included in contract liability at the beginning of the period	23,400	$ 8,600	157,900	$ 110,400
Contract with Customer, Performance Obligation Satisfied in Previous Period	$ 23,100	$ 24,300	$ 31,800	$ 33,200