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Receivables (Aging of past due financing receivables) (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due $ 3,993 $ 3,283
Current 43,229 38,033
Total Financing Receivables 47,222 41,316
Recognized Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 3,044 2,494
Current 32,219 28,382
Total Financing Receivables 35,263 30,876
Deferred Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 949 789
Current 11,010 9,651
Total Financing Receivables 11,959 10,440
31-60 Days Past Due    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 979 964
31-60 Days Past Due | Recognized Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 759 745
31-60 Days Past Due | Deferred Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 220 219
61-90 Days Past Due    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 478 513
61-90 Days Past Due | Recognized Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 348 392
61-90 Days Past Due | Deferred Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 130 121
91-120 Days Past Due    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 216 295
91-120 Days Past Due | Recognized Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 174 148
91-120 Days Past Due | Deferred Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 42 147
Greater than 120 Day Past Due    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 2,320 1,511
Greater than 120 Day Past Due | Recognized Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due 1,763 1,209
Greater than 120 Day Past Due | Deferred Revenue    
Financing Receivable Recorded Investment Past Due [Line Items]    
Total Past Due $ 557 $ 302