Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Movement in Deferred Revenue [Roll Forward]
Contract with Customer, Liability	$ (42,177)	$ (45,866)
Contract with Customer, Liability	(43,357)	(47,511)
Equipment revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	7,499	5,976
Deferred Revenue, Additions	(9,340)	(7,236)
Software revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	4,677	4,108
Deferred Revenue, Additions	(5,571)	(5,362)
Government Grant Revenue
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	515	218
Deferred Revenue, Additions	0	(861)
Other deferred revenue
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	1,195	1,915
Deferred Revenue, Additions	$ (155)	$ (403)