Revenue Contract Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
COntract Liability Rollforward [Roll Forward]
Contract with Customer, Liability	$ (6,430)	$ (4,855)
Contract with Customer, Liability	(7,461)	(6,430)
Equipment revenue [Member]
COntract Liability Rollforward [Roll Forward]
Increase (Decrease) in Deferred Revenue	(10,048)	(14,408)
Deferred Revenue, Additions	13,725	14,341
Software revenue [Member]
COntract Liability Rollforward [Roll Forward]
Increase (Decrease) in Deferred Revenue	(7,261)	(5,721)
Deferred Revenue, Additions	$ 4,615	$ 7,363