Goodwill and Intangible Assets, Net - Amortization Expense by Income Statement Caption (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Finite-Lived Intangible Assets, Net [Abstract]
Gross	$ 38,275	$ 35,410
Accumulated Amortization	(17,580)	(15,700)
Total	20,695	19,710
Gross value of fully amortized intangible assets	43,100	42,700
Capitalized software development costs
Finite-Lived Intangible Assets, Net [Abstract]
Gross	1,018	477
Accumulated Amortization	(15)	0
Total	1,003	477
Customer relationships
Finite-Lived Intangible Assets, Net [Abstract]
Gross	8,100	8,100
Accumulated Amortization	(4,859)	(4,329)
Total	3,241	3,771
Developed and core technology
Finite-Lived Intangible Assets, Net [Abstract]
Gross	4,080	4,080
Accumulated Amortization	(3,262)	(3,044)
Total	818	1,036
Distribution rights
Finite-Lived Intangible Assets, Net [Abstract]
Gross	333	352
Accumulated Amortization	(268)	(261)
Total	65	91
Patents
Finite-Lived Intangible Assets, Net [Abstract]
Gross	23,944	21,601
Accumulated Amortization	(8,603)	(7,574)
Total	15,341	14,027
Trademarks and trade names
Finite-Lived Intangible Assets, Net [Abstract]
Gross	800	800
Accumulated Amortization	(573)	(492)
Total	$ 227	$ 308