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Schedule II Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | $ 5,496 | $ 5,526 | $ 4,581
Charged (Credited) to Costs and Expenses | 2,671 | 2,747 | 2,089
Amounts Written Off | (2,441) | (2,551) | (2,079)
Other Adjustments | 126 | (226) | 935
Balance at End of Period | 5,852 | 5,496 | 5,526
Accounts receivable and unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 5,153 | 5,272 | 4,286
Charged (Credited) to Costs and Expenses | 2,726 | 2,658 | 2,130
Amounts Written Off | (2,441) | (2,551) | (2,079)
Other Adjustments | 126 | (226) | 935
Balance at End of Period | 5,564 | 5,153 | 5,272
Long-term unbilled receivables |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 35 | 26 | 30
Charged (Credited) to Costs and Expenses | (4) | 9 | (4)
Amounts Written Off | 0 | 0 | 0
Other Adjustments |  | 0 | 0
Balance at End of Period | 31 | 35 | 26
Net investment in sales-type leases |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |
Balance at Beginning of Period | 308 | 228 | 265
Charged (Credited) to Costs and Expenses | (51) | 80 | (37)
Amounts Written Off | 0 | 0 | 0
Other Adjustments | 0 | 0 | 0
Balance at End of Period | $ 257 | $ 308 | $ 228

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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 -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 4 -Subparagraph (SX 210.12-09) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-4 + Details
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