Summary of Significant Accounting Policies and Other Items - Depreciation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Depreciation expense
Selling, general and administrative expenses	$ 453	$ 457	$ 876
Total depreciation and amortization	34,124	36,308	40,520
Product revenue
Depreciation expense
Cost of sales	3,022	3,176	3,506
Rental revenue
Depreciation expense
Cost of sales	23,663	25,812	28,063
Field service and other revenue
Depreciation expense
Cost of sales	$ 6,986	$ 6,863	$ 8,075