Take a look at the broadcasts parameter and it’s default:
broadcasts optional boolean Returns only broadcasts when true. Otherwise only highlights are returned. Default is false.
The default is false so you only get highlights if you don’t specify. The correct call would be https://api.twitch.tv/kraken/channels/lirik/videos?limit=100&offset=0&client_id=XXX&api_version=3&broadcasts=true if you want broadcasts/archives instead.
Not sure why broadcast_type happens to work as well but is undocumented but regardless the endpoint is working and documented correctly.