Other Assets - Patent Licenses (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	$ 94,737		$ 94,737		$ 103,259
Finite-lived intangible assets, gross	174,206		174,206		174,206
Amortization on patents and tooling			603	$ 401
Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	2,500		2,500		2,900
Finite-lived intangible assets, gross	7,000		7,000
Patent Licenses | Cost of SaaS and License Revenue
Finite-Lived Intangible Assets [Line Items]
Amortization on patents and tooling	100	$ 100	200	200
Patent Licenses | Amortization and depreciation expense
Finite-Lived Intangible Assets [Line Items]
Amortization on patents and tooling	100	$ 100	$ 100	$ 100
Patent Licenses | Minimum
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible asset, useful life			3 years
Patent Licenses | Maximum
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible asset, useful life			18 years
Other Current Assets | Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	700		$ 700		700
Other Assets | Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	$ 1,800		$ 1,800		$ 2,200