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Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | $ 4,581 | $ 3,452 | $ 2,796
Charged (Credited) to Cost and Expenses | 2,089 | 1,135 | 2,499
Amount Written Off | (2,079) | (535) | (1,986)
Other Adjustments | 935 | 529 | 143
Balance at End of Period | 5,526 | 4,581 | 3,452
Accounts receivable and unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 4,286 | 3,227 | 2,582
Charged (Credited) to Cost and Expenses | 2,130 | 1,095 | 2,488
Amount Written Off | (2,079) | (535) | (1,986)
Other Adjustments | 935 | 499 | 143
Balance at End of Period | 5,272 | 4,286 | 3,227
Long-term unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 30 | 0 | 0
Charged (Credited) to Cost and Expenses | (4) | 0 | 0
Amount Written Off | 0 | 0 | 0
Other Adjustments |  | 30 | 0
Balance at End of Period | 26 | 30 | 0
Net investment in sales-type leases |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 265 | 225 | 214
Charged (Credited) to Cost and Expenses | (37) | 40 | 11
Amount Written Off | 0 | 0 | 0
Other Adjustments | 0 | 0 | 0
Balance at End of Period | $ 228 | $ 265 | $ 225

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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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- Definition Amount of valuation and qualifying accounts and reserves. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column B)) -URI http://asc.fasb.org/extlink&oid=120395691&loc=d3e24092-122690 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09(Column E)) -URI http://asc.fasb.org/extlink&oid=120395691&loc=d3e24092-122690 + Details
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