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Schedule II Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
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