Revenues - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract with customer, deferred revenues	$ 86,845	$ 77,648	$ 70,070
Contract with customer, deferred revenues, current	60,946	53,371
Contract with customer, deferred revenues, noncurrent	25,900
Deferred sales commission	7,100	5,800	3,400
Sales commissions	20,900	$ 16,300	$ 19,000
Service-Type Warranties
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract with customer, deferred revenues	9,600
Contract with customer, deferred revenues, current	4,100
Contract with customer, deferred revenues, noncurrent	$ 5,500