Receivables - Schedule of Net Investment in Leases and Financed Sales Receivables with Billed Amounts Past Due Continues to Accrue Finance Income (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	$ 18,538	$ 19,415
Unbilled	118,686	121,690
Allowance for Credit Losses	(10,070)	(11,721)
Total financing receivables	127,154	129,384
Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	1,828	2,506
30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	1,408	1,523
Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	15,302	15,386
Net Investment in Leases [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	5,103	3,046
Unbilled	24,889	26,062
Allowance for Credit Losses	(453)	(776)	$ (798)
Total financing receivables	29,539	28,332
Net Investment in Leases [Member] | Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	293	237
Net Investment in Leases [Member] | 30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	212	216
Net Investment in Leases [Member] | Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	4,598	2,593
Net Financed Sales Receivables [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	13,435	16,369
Unbilled	93,797	95,628
Allowance for Credit Losses	(9,617)	(10,945)	$ (5,414)
Total financing receivables	97,615	101,052
Net Financed Sales Receivables [Member] | Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	1,535	2,269
Net Financed Sales Receivables [Member] | 30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	1,196	1,307
Net Financed Sales Receivables [Member] | Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	10,704	12,793
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	17,166	16,443
Unbilled	56,203	60,242
Allowance for Credit Losses	(1,207)	(1,817)
Total financing receivables	72,162	74,868
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	1,057	1,740
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | 30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	994	1,296
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	15,115	13,407
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Investment in Leases [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	5,069	2,964
Unbilled	22,651	17,070
Allowance for Credit Losses	(9)	(230)
Total financing receivables	27,711	19,804
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Investment in Leases [Member] | Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	259	190
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Investment in Leases [Member] | 30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	212	181
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Investment in Leases [Member] | Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	4,598	2,593
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Financed Sales Receivables [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	12,097	13,479
Unbilled	33,552	43,172
Allowance for Credit Losses	(1,198)	(1,587)
Total financing receivables	44,451	55,064
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Financed Sales Receivables [Member] | Accrued and Current [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	798	1,550
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Financed Sales Receivables [Member] | 30 to 89 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	782	1,115
Net Investment in Leases and Financed Sale Receivables Continue to Accrue Finance Income [Member] | Net Financed Sales Receivables [Member] | Equal To Greater Than 90 Days Past Due [Member]
Financing Receivable Recorded Investment Past Due [Line Items]
Billed	$ 10,517	$ 10,814