Revenue Contract Liabilities Text (Details) $ in Millions	12 Months Ended
	Dec. 31, 2020 USD ($)
Contract asset and liability balances [Line Items]
Contract with Customer, Liability, Revenue Recognized	$ 4.7
Equipment revenue [Member]
Contract asset and liability balances [Line Items]
Revenue, Remaining Performance Obligation, Amount	4.8
Software revenue [Member]
Contract asset and liability balances [Line Items]
Revenue, Remaining Performance Obligation, Amount	$ 1.7