Principles of Consolidation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Cost of Sales
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 66	$ 271
Selling, General and Administrative Adjustment
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	1,682	1,523
Research and Development Expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	346	382
Operating Expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	2,028	1,905
Product | Cost of Sales
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	110	154
Service | Cost of Sales
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ (44)	$ 117