Goodwill and Intangible Assets, Net - Amortization Expense by Income Statement Caption (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
Finite-Lived Intangible Assets, Net [Abstract]
Gross	$ 36,306	$ 35,410
Accumulated Amortization	(16,333)	(15,700)
Total	19,973	19,710
Gross value of fully amortized intangible assets	42,800	42,700
Capitalized software development costs
Finite-Lived Intangible Assets, Net [Abstract]
Gross	703	477
Accumulated Amortization	(4)	0
Total	699	477
Customer relationships
Finite-Lived Intangible Assets, Net [Abstract]
Gross	8,100	8,100
Accumulated Amortization	(4,506)	(4,329)
Total	3,594	3,771
Developed and core technology
Finite-Lived Intangible Assets, Net [Abstract]
Gross	4,080	4,080
Accumulated Amortization	(3,117)	(3,044)
Total	963	1,036
Distribution rights
Finite-Lived Intangible Assets, Net [Abstract]
Gross	336	352
Accumulated Amortization	(256)	(261)
Total	80	91
Patents
Finite-Lived Intangible Assets, Net [Abstract]
Gross	22,287	21,601
Accumulated Amortization	(7,931)	(7,574)
Total	14,356	14,027
Trademarks and trade names
Finite-Lived Intangible Assets, Net [Abstract]
Gross	800	800
Accumulated Amortization	(519)	(492)
Total	$ 281	$ 308