Income Taxes - Deferred Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Inventory valuation	$ 12,682	$ 11,931
Net operating losses	5,841	5,647
Credit carry forwards	49,086	59,988
Warranty and installation accruals	1,766	1,862
Share-based compensation	4,637	5,267
Contract liabilities	19,785	24,504
Operating leases	8,034	8,349
Research and experimental ("R&E") capitalization	34,504	19,071
Other	4,885	6,553
Total deferred tax assets	141,220	143,172
Valuation allowance	(11,745)	(11,083)
Net deferred tax assets	129,475	132,089
Deferred tax liabilities:
Purchased intangible assets	14,166	8,724
Convertible Senior Notes		(39)
Operating leases	5,548	5,994
Depreciation	(1,588)	2,346
Total deferred tax liabilities	18,126	17,025
Net deferred taxes, asset	111,349	115,064
Accrual for foreign tax withholdings on unremitted earnings	1,000
Income tax expense (benefit)
Income tax expense (benefit)	2,030	$ (115,957)	$ (358)
Income tax expense from operations excluding loss on extinguishment of notes	16,200
Income tax expense for share based compensation	2,000
Benefit related to Foreign-Derived Intangible Income	7,500
Benefit associated with current year research and development tax credit	7,700
Tax benefit associated with the loss on extinguishment of convertible notes	$ 1,000