Financing Receivables - Components of Lease Receivables (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Financing Receivable, Past Due [Line Items]
Less: allowance for credit losses	$ (549)	$ (722)	$ (1,489)
Long-term financing arrangements, net	7,786	13,719
Long-Term Financing Arrangement
Financing Receivable, Past Due [Line Items]
Long-term financing arrangements, gross	8,683	15,659
Less: allowance for credit losses	(533)	(716)
Less: unearned income	(678)	(1,339)
Long-term financing arrangements, net	$ 7,472	$ 13,604