Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019
Movement in Deferred Revenue [Roll Forward]
Contract with Customer, Liability	$ (4,855)	$ (4,282)
Contract with Customer, Liability	(8,932)	(7,692)
Equipment revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	9,920	3,619
Deferred Revenue, Additions	(13,679)	(6,869)
Software revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	4,715	2,955
Deferred Revenue, Additions	$ (5,033)	$ (3,115)