Other Assets - Patent Licenses (Details) $ in Thousands	1 Months Ended		12 Months Ended
	Oct. 31, 2020 USD ($) patent	Apr. 30, 2020 USD ($) patent	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Finite-Lived Intangible Assets [Line Items]
Intangible assets acquired			$ 9,485	$ 5,307
Finite-lived, intangible assets, net			82,458	91,406	$ 103,259
Finite-lived intangible assets, gross			188,300	179,513
Amortization on patents and tooling			1,359	1,240	882
Patent Licenses
Finite-Lived Intangible Assets [Line Items]
Number of patents purchased | patent	1	30
Intangible assets acquired	$ 200	$ 900
Finite-lived, intangible assets, net			1,600	2,200
Finite-lived intangible assets, gross			7,000
Patent Licenses | Cost of SaaS and License Revenue
Finite-Lived Intangible Assets [Line Items]
Amortization on patents and tooling			300	400	400
Patent Licenses | Amortization and Depreciation
Finite-Lived Intangible Assets [Line Items]
Amortization on patents and tooling			$ 300	300	$ 200
Patent Licenses | Minimum
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible asset, useful life (in years)			3 years
Patent Licenses | Maximum
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible asset, useful life (in years)			18 years
Patent Licenses | Other Current Assets
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net			$ 500	600
Patent Licenses | Other Assets
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, net			$ 1,100	$ 1,600