Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	$ 5,496	$ 5,526	$ 4,581
Charged (Credited) to Costs and Expenses	2,671	2,747	2,089
Amounts Written Off	(2,441)	(2,551)	(2,079)
Other Adjustments	126	(226)	935
Balance at End of Period	5,852	5,496	5,526
Accounts receivable and unbilled receivables
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	5,153	5,272	4,286
Charged (Credited) to Costs and Expenses	2,726	2,658	2,130
Amounts Written Off	(2,441)	(2,551)	(2,079)
Other Adjustments	126	(226)	935
Balance at End of Period	5,564	5,153	5,272
Long-term unbilled receivables
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	35	26	30
Charged (Credited) to Costs and Expenses	(4)	9	(4)
Amounts Written Off	0	0	0
Other Adjustments		0	0
Balance at End of Period	31	35	26
Net investment in sales-type leases
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]
Balance at Beginning of Period	308	228	265
Charged (Credited) to Costs and Expenses	(51)	80	(37)
Amounts Written Off	0	0	0
Other Adjustments	0	0	0
Balance at End of Period	$ 257	$ 308	$ 228