Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Movement in Deferred Revenue [Roll Forward]
Contract with Customer, Liability	$ (6,430)	$ (4,855)
Contract with Customer, Liability	(4,968)	(12,242)
Equipment revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	4,754	3,263
Deferred Revenue, Additions	(5,435)	(10,347)
Software revenue [Member]
Movement in Deferred Revenue [Roll Forward]
Increase (Decrease) in Deferred Revenue	4,355	3,340
Deferred Revenue, Additions	$ (2,212)	$ (3,643)