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Revenue (Tables)
12 Months Ended
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Asset and Liability
202220212020
Costs in excess of billings41,732 $54,437 $26,915 
Billings in excess of cost(35,017)(46,711)(34,702)
Unearned revenue(4,572)(3,681)(21,325)