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Condensed Consolidated Statements of Operations - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Revenues $ 64,153,000 $ 56,191,000 $ 116,455,000 $ 109,475,000
Cost of revenues 35,315,000 30,789,000 65,276,000 59,523,000
Gross margin 28,838,000 25,402,000 51,179,000 49,952,000
Operating costs and expenses:        
Selling, general and administrative 30,563,000 24,688,000 57,185,000 46,076,000
Engineering and development 3,522,000 4,462,000 7,060,000 8,766,000
Total operating costs and expenses 34,085,000 29,150,000 64,245,000 54,842,000
Loss from operations (5,247,000) (3,748,000) (13,066,000) (4,890,000)
Other income (expense):        
Investment income 2,048,000 368,000 3,312,000 766,000
Interest expense (1,586,000) (1,164,000) (3,077,000) (2,373,000)
Other expense, net (4,028,000) (346,000) (9,045,000) (881,000)
Total other expense, net (3,566,000) (1,142,000) (8,810,000) (2,488,000)
Loss before provision for income taxes (8,813,000) (4,890,000) (21,876,000) (7,378,000)
Provision for income taxes (364,000) (499,000) (705,000) (1,538,000)
Net loss (9,177,000) (5,389,000) (22,581,000) (8,916,000)
Paid-in-kind dividend on Series C convertible preferred stock (2,000,000) (2,000,000) (4,000,000) (4,196,000)
Net loss attributable to common stockholders $ (11,177,000) $ (7,389,000) $ (26,581,000) $ (13,112,000)
Net loss per share attributable to common stockholders - basic $ (0.23) $ (0.16) $ (0.54) $ (0.29)
Net loss per share attributable to common stockholders - diluted $ (0.23) $ (0.16) $ (0.54) $ (0.29)
Weighted average shares outstanding - basic 48,792,559 45,757,532 49,467,691 44,786,403
Weighted average shares outstanding - diluted 48,792,559 45,757,532 49,467,691 44,786,403
Service [Member]        
Revenues $ 34,585,000 $ 29,679,000 $ 67,495,000 $ 56,443,000
Cost of revenues 19,111,000 16,742,000 37,829,000 32,294,000
Product [Member]        
Revenues 29,568,000 26,512,000 48,960,000 53,032,000
Cost of revenues $ 16,204,000 $ 14,047,000 $ 27,447,000 $ 27,229,000