Annual report pursuant to Section 13 and 15(d)

Revenue Recognition - Narrative (Details)

v3.24.0.1
Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Disaggregation of Revenue [Line Items]    
Refund liability $ 0 $ 500
Minimum    
Disaggregation of Revenue [Line Items]    
Contract liabilities, service agreements, terms (in years) 1 year  
Maximum    
Disaggregation of Revenue [Line Items]    
Contract liabilities, service agreements, terms (in years) 3 years  
Capital Equipment Related Service Revenue    
Disaggregation of Revenue [Line Items]    
Contract with customer, liability, revenue recognized $ 1,100 $ 500
Capital Equipment and Software-Related Service    
Disaggregation of Revenue [Line Items]    
Revenue, remaining performance obligation, amount $ 2,900  
Capital Equipment and Software-Related Service | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01    
Disaggregation of Revenue [Line Items]    
Revenue, remaining performance obligation, percentage 80.00%  
Revenue, remaining performance obligation, period 12 months  
Capital Equipment and Software-Related Service | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01    
Disaggregation of Revenue [Line Items]    
Revenue, remaining performance obligation, period