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We develop a reduced-complexity approach for the detection of coded shaped-offset quadrature phase-shift keying (SOQPSK), a highly bandwidth-efficient and popular constant-envelope modulation. The complexity savings result from viewing the signal as a continuous-phase modulation (CPM). We give a simple and convenient closed-form expression for a recursive binary-to-ternary precoder for SOQPSK. The recursive nature of this formulation is necessary in serially concatenated systems where SOQPSK serves as the inner code. We show that the proposed detectors are optimal in the full-response case, and are near-optimal in the partial-response case due to some additional complexity reducing approximations. In all cases, the proposed detectors achieve large coding gains for serially concatenated coded SOQPSK. These gains are similar to those reported recently by Li and Simon, which were obtained using a more complicated cross-correlated trellis-coded quadrature modulation (XTCQM) interpretation.