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Revenue (Tables)
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Contract with Customer, Asset and Liability
202320222021
Costs in excess of billings$52,035 $41,732 $54,437 
Billings in excess of costs(44,735)(35,017)(46,711)
Unearned revenue(3,941)(4,572)(3,681)