Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
COntract Liability Rollforward [Roll Forward]
Contract with Customer, Liability	$ (4,855)	$ (4,282)
Contract with Customer, Liability	(6,430)	(4,855)
Equipment revenue [Member]
COntract Liability Rollforward [Roll Forward]
Increase (Decrease) in Deferred Revenue	(14,408)	(8,807)
Deferred Revenue, Additions	14,341	8,794
Software revenue [Member]
COntract Liability Rollforward [Roll Forward]
Increase (Decrease) in Deferred Revenue	(5,721)	(3,953)
Deferred Revenue, Additions	$ 7,363	$ 4,539