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Revenue - Contract Balances (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Unbilled receivables (contract assets) $ 33,522 $ 33,009
Unbilled receivables (contract assets), $ Change $ 513  
Unbilled receivables (contract assets), % Change 2.00%  
Contract liabilities $ (25,374) (39,865)
Contract liabilities, $ Change $ 14,491  
Contract liabilities, % Change (36.00%)  
Net contract liabilities $ 8,148 (6,856)
Net contract liabilities, $ Change $ 15,004  
Net contract liabilities, % Change 0.00%  
Customer advances $ 9,364 $ 12,750
Revenue recognized 100.00% 100.00%