printers

And people were doing line printer art using different characters to represent different grayscales. And there were nudes being done back then.

A. Michael Noll, A. Michael Noll on 1960s Computer Art at Bell Labs

But by about 2000, Epson had come out with a series of inkjet printers that had very high-quality permanent archival inks. Their first printer was a relatively small one but then they came out with the 9500, which would take paper up to 44 inches wide and was a six-color inkjet printer.

Mark Wilson, Travess Smalley Profiles Mark Wilson