Revenue Recognition - Lease Income By Lease Type (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Sales-type lease revenue:
Revenue at lease commencement	$ 7,998	$ 6,982	$ 6,005
Interest income	728	393	784
Total sales-type lease revenue	8,726	7,375	6,789
Operating lease revenue	50,857	51,765	65,563
Total lease revenue	59,583	59,140	$ 72,352
Sales-type lease receivable	$ 17,100	$ 13,000