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Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | $ 5,526 | $ 4,581 | $ 3,452
Charged (Credited) to Costs and Expenses | 2,747 | 2,089 | 1,135
Amount Written Off | (2,551) | (2,079) | (535)
Other Adjustments | (226) | 935 | 529
Balance at End of Period | 5,496 | 5,526 | 4,581
Accounts receivable and unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 5,272 | 4,286 | 3,227
Charged (Credited) to Costs and Expenses | 2,658 | 2,130 | 1,095
Amount Written Off | (2,551) | (2,079) | (535)
Other Adjustments | (226) | 935 | 499
Balance at End of Period | 5,153 | 5,272 | 4,286
Long-term unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 26 | 30 | 0
Charged (Credited) to Costs and Expenses | 9 | (4) | 0
Amount Written Off | 0 | 0 | 0
Other Adjustments |  | 0 | 30
Balance at End of Period | 35 | 26 | 30
Net investment in sales-type leases |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 228 | 265 | 225
Charged (Credited) to Costs and Expenses | 80 | (37) | 40
Amount Written Off | 0 | 0 | 0
Other Adjustments | 0 | 0 | 0
Balance at End of Period | $ 308 | $ 228 | $ 265

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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 https://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 https://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 https://asc.fasb.org/extlink&oid=120395691&loc=d3e24092-122690 + Details
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