Income Tax (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2019	Sep. 30, 2018	Sep. 30, 2019	Sep. 30, 2018
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Income tax benefit, continued operations	$ (2)	$ 379	$ 168	$ 940
Unrecognized tax benefits	3,600		3,600
Unrecognized tax benefits that would impact effective tax rate	3,200		3,200
MDSS post-warranty service business \| Discontinued operations, disposed of by sale
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Income tax expense, discontinued operations	$ 0	$ 186	$ 84	$ 900

Amount of tax expense (benefit) related to a discontinued operation. Includes, but is not limited to, tax expense (benefit) related to income (loss) from operations during the phase-out period, tax expense (benefit) related to gain (loss) on disposal, tax expense (benefit) related to gain (loss) for reversal of write-down (write-down) to fair value, less cost to sell, and tax expense (benefit) related to adjustments of a prior period gain (loss) on disposal.

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