Segments Operating Segments (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Revenue
Total revenue	$ 53,815	$ 50,781	$ 141,835	$ 130,849
Cost of revenue
Total cost of revenue	17,485	18,893	51,776	52,260
Gross profit
Total gross profit	36,330	31,888	90,059	78,589
Calculation of pretax profit (loss) [Abstract]
Operating expenses	32,314	30,289	96,970	91,990
Income (loss) before income taxes	2,557	520	(11,300)	(16,188)
Product
Revenue
Total revenue	28,510	28,511	70,311	65,646
Cost of revenue
Total cost of revenue	7,139	8,204	21,213	20,450
Service
Revenue
Total revenue	25,305	22,270	71,524	65,203
Cost of revenue
Total cost of revenue	$ 10,346	$ 10,689	$ 30,563	$ 31,810