The Nuggets had lost their opening three games of the campaign and their win leaves Utah (0-5) as the only team in the NBA without one.
Lawson made 9-of-16 from the field to score 23 points. He made three from long range while contributing seven rebounds and eight assists. Nate Robinson came off the bench to add 15 points.
Millsap paced the Hawks with 29 points and 10 rebounds.
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