Legal Proceedings - Narrative (Details)				1 Months Ended
	Apr. 30, 2020 claim	Dec. 11, 2018 complaint	Nov. 14, 2017 complaint	Dec. 31, 2018 Lawsuit patent	Jan. 31, 2019 claim
Patent Infringement By 3Shape
Loss Contingencies [Line Items]
Patents allegedly infringed upon	9			10
Number of patent lawsuits/complaints		2	4	3
Number of claims found valid	6
Patents found infringed upon	7
Number of Section 337 violations	4
Number of patents with Section 337 violations	2
Shareholder Derivative Lawsuit
Loss Contingencies [Line Items]
Number of lawsuits					3