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Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | $ 3,452 | $ 2,796 | $ 5,930
Charged (Credited) to Cost and Expenses | 1,135 | 2,499 | (117)
Debited (Credited) to Other Accounts | 0 | 0 | 24
Amount Written Off | (535) | (1,986) | (3,010)
Other Adjustments | 529 | 143 | (31)
Balance at End of Period | 4,581 | 3,452 | 2,796
Accounts receivable and unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 3,227 | 2,582 | 5,738
Charged (Credited) to Cost and Expenses | 1,095 | 2,488 | (127)
Debited (Credited) to Other Accounts | 0 | 0 | 12
Amount Written Off | (535) | (1,986) | (3,010)
Other Adjustments | 499 | 143 | (31)
Balance at End of Period | 4,286 | 3,227 | 2,582
Long-term unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 0 | 0 | 0
Charged (Credited) to Cost and Expenses | 0 | 0 | 0
Debited (Credited) to Other Accounts | 0 | 0 | 0
Amount Written Off | 0 | 0 | 0
Other Adjustments | 30 | 0 | 0
Balance at End of Period | 30 | 0 | 0
Net investment in sales-type leases |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 225 | 214 | 192
Charged (Credited) to Cost and Expenses | 40 | 11 | 10
Debited (Credited) to Other Accounts | 0 | 0 | 12
Amount Written Off | 0 | 0 | 0
Other Adjustments | 0 | 0 | 0
Balance at End of Period | $ 265 | $ 225 | $ 214

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- Definition Amount of increase (decrease) in valuation and qualifying accounts and reserves from adjustment. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09) -URI http://asc.fasb.org/extlink&oid=120395691&loc=d3e24092-122690 + Details
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