Income Taxes - Components of Net Deferred Income Tax Asset and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Net deferred income tax asset - Non-current
Warranty cost	$ 301	$ 305
Inventory reserve	2,255	2,287
Unearned service revenue	8,930	9,913
Employee stock options	3,772	3,282
Tax credits	4,296	3,688
Loss carryforwards	19,197	18,487
Depreciation	729	1,295
Other, net	0	1,402
Intangibles & goodwill	12,461	14,400
Lease liability	3,690	4,749
Total deferred tax assets	55,631	59,808
Valuation allowance	(37,295)	(35,148)
Total deferred tax assets net of valuation allowance	18,336	24,660
Net deferred income tax liability - Non-current
Other, net	(2,420)	0
Operating lease right-of-use asset	(3,441)	(4,441)
Total deferred tax liabilities	(5,861)	(4,441)
Net deferred tax assets	$ 12,475	$ 20,219