Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Movement in Deferred Revenue [Roll Forward]
Contract with Customer, Liability	$ (6,430)	$ (4,855)
Contract with Customer, Liability	(4,662)	(8,932)
Equipment revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	7,193	9,920
Deferred Revenue, Additions	(8,652)	(13,679)
Software revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	6,194	4,715
Deferred Revenue, Additions	$ (2,967)	$ (5,033)