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