Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Movement in Deferred Revenue [Roll Forward]
Contract with Customer, Liability	$ (4,855)	$ (4,282)
Contract with Customer, Liability	(8,472)	(6,425)
Equipment revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Deferred Revenue, Additions	(3,990)	(1,343)
Increase (Decrease) in Deferred Revenue	1,802	448
Software revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Deferred Revenue, Additions	(2,664)	(1,593)
Increase (Decrease) in Deferred Revenue	$ 1,235	$ 345