Revenues - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	$ 76,331	$ 79,515
Americas
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	32,549	35,590
EMEA
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	25,454	23,690
Asia Pacific
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	18,328	20,235
Product sales
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	54,635	56,525
Product sales | Product transferred to customers at a point in time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	50,870	53,554
Product sales | Product transferred to customers over time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	3,765	2,971
Service sales
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	21,696	22,990
Service sales | Product transferred to customers at a point in time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	9,997	10,996
Service sales | Product transferred to customers over time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Sales	$ 11,699	$ 11,994