Other Assets - Patent Licenses (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	$ 82,264		$ 82,264		$ 91,406
Finite-lived intangible assets, gross	178,815		178,815		179,513
Amortization on patents and tooling			701	$ 603
Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	1,900		1,900		2,200
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	500		$ 500		600
Other Assets | Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net	$ 1,400		$ 1,400		$ 1,600