Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	$ 4,581	$ 3,452	$ 2,796
Charged (Credited) to Cost and Expenses	2,089	1,135	2,499
Amount Written Off	(2,079)	(535)	(1,986)
Other Adjustments	935	529	143
Balance at End of Period	5,526	4,581	3,452
Accounts receivable and unbilled receivables
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	4,286	3,227	2,582
Charged (Credited) to Cost and Expenses	2,130	1,095	2,488
Amount Written Off	(2,079)	(535)	(1,986)
Other Adjustments	935	499	143
Balance at End of Period	5,272	4,286	3,227
Long-term unbilled receivables
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	30	0	0
Charged (Credited) to Cost and Expenses	(4)	0	0
Amount Written Off	0	0	0
Other Adjustments		30	0
Balance at End of Period	26	30	0
Net investment in sales-type leases
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	265	225	214
Charged (Credited) to Cost and Expenses	(37)	40	11
Amount Written Off	0	0	0
Other Adjustments	0	0	0
Balance at End of Period	$ 228	$ 265	$ 225