Allowance Accounts - Activities In Allowance For Credit Losses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Allowance for credit losses
Balance at beginning of year	$ 1,477	$ 3,469
Additions (reductions)	800	(146)	$ 2,684
Write-offs		(1,846)
Adjustments			785
Balance at end of period	2,277	1,477	3,469
Deferred tax asset valuation allowance
Balance at beginning of year	14,047	19,722	18,631
Adjustments	8,110	(5,675)	1,091
Balance at end of period	$ 22,157	$ 14,047	19,722
Allowance for Credit Losses | Robotics
Allowance for credit losses
Additions (reductions)			$ 1,700