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Receivables (Aging of past due financing receivables) (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | $ 58,830 | $ 52,855
Total Financing Receivables | 58,830 | 52,855
Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Total Financing Receivables | 42,384 | 37,858
Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Total Financing Receivables | 16,446 | 14,997
31-60 Days Past Due |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 1,149 | 1,048
31-60 Days Past Due | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 864 | 777
31-60 Days Past Due | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 285 | 271
61-90 Days Past Due |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 739 | 897
61-90 Days Past Due | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 555 | 738
61-90 Days Past Due | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 184 | 159
91-120 Days Past Due |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 254 | 267
91-120 Days Past Due | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 180 | 210
91-120 Days Past Due | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 74 | 57
Greater than 120 Day Past Due |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 3,155 | 2,386
Greater than 120 Day Past Due | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 2,146 | 1,919
Greater than 120 Day Past Due | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 1,009 | 467
Total Past Due |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 5,297 | 4,598
Total Past Due | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 3,745 | 3,644
Total Past Due | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 1,552 | 954
Current |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 53,533 | 48,257
Current | Recognized revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | 38,639 | 34,214
Current | Deferred revenue |  |
Financing Receivable Recorded Investment Past Due [Line Items] |  |
Financing Receivable, before Allowance for Credit Loss | $ 14,894 | $ 14,043

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