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Condensed Consolidated Statements of Cash Flows Supplemental Information - Significant Non-cash Investing Activities - (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Net (decrease) increase in accruals related to:    
Investment in equipment supporting joint revenue sharing arrangements $ 217 $ (1,897)
Acquisition of other intangible assets (863) 69
Purchases of property, plant and equipment (8) 158
Net accruals $ (654) $ (1,670)