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SCHEDULE II - VALUATION ACCOUNTS (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Accounts receivable, allowance for doubtful accounts    
Valuation accounts    
Balance at Beginning of Period $ 1,511 $ 1,154
Additions Charged (Credited) to Expense 824 837
Net (Deductions) Recoveries (44) (480)
Balance at End of Period 2,311 1,511
Accounts receivable, allowance for doubtful accounts | Cumulative Effect, Period of Adoption, Adjustment    
Valuation accounts    
Balance at Beginning of Period 20 0
Balance at End of Period   20
Deferred tax valuation allowance    
Valuation accounts    
Balance at Beginning of Period 536 518
Additions Charged (Credited) to Expense 442 18
Net (Deductions) Recoveries 0 0
Balance at End of Period 978 536
Deferred tax valuation allowance | Cumulative Effect, Period of Adoption, Adjustment    
Valuation accounts    
Balance at Beginning of Period 0 0
Balance at End of Period   0
Notes receivable, allowance for credit losses    
Valuation accounts    
Balance at Beginning of Period 0  
Additions Charged (Credited) to Expense 11  
Net (Deductions) Recoveries 0  
Balance at End of Period 69 0
Notes receivable, allowance for credit losses | Cumulative Effect, Period of Adoption, Adjustment    
Valuation accounts    
Balance at Beginning of Period 58  
Balance at End of Period   58
Investments in sales-type leases, allowance for credit losses    
Valuation accounts    
Balance at Beginning of Period 0  
Additions Charged (Credited) to Expense 3  
Net (Deductions) Recoveries 0  
Balance at End of Period 9 0
Investments in sales-type leases, allowance for credit losses | Cumulative Effect, Period of Adoption, Adjustment    
Valuation accounts    
Balance at Beginning of Period $ 6  
Balance at End of Period   $ 6