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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