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Taxes - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Oct. 31, 2016 | Sep. 30, 2015 | Dec. 31, 2017 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Taxes [Line Items] |  |  |  |  |  |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent |  |  |  | 21.00% | 21.00% |
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount |  |  | $ 25,800,000 |  |  |
Toll tax charge |  |  | 0 |  |  |
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Amount |  |  | 2,300,000 |  |  |
Deferred Tax Assets, Valuation Allowance |  |  |  | $ 6,521,000 | $ 6,098,000 |
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount |  |  |  | 400,000 | (700,000) |
Undistributed Earnings of Foreign Subsidiaries |  |  |  | 25,700,000 |  |
Unrecognized Tax Benefits |  |  | $ 2,177,000 | 2,957,000 | 2,424,000 | $ 2,177,000
Income Tax Examination, Penalties and Interest Accrued |  |  |  | 200,000 | 100,000 |
Subsidiary Revenue |  | $ 66,000,000 |  |  |  |
Reversal of Service Tax Refund | $ 160,000 |  |  |  |  |
Service Tax Credit Receivable | $ 1,000,000 |  |  |  |  |
Income Tax Expense (Benefit) |  |  |  | 1,091,000 | $ 1,808,000 |
Canadian Subsidiaries [Member] |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |
Operating Loss Carryforwards |  |  |  | 13,400,000 |  |
Canadian Subsidiaries [Member] | Research Tax Credit Carryforward [Member] |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |
Tax Credit Carryforward, Amount |  |  |  | 1,500,000 |  |
Domestic Tax Authority [Member] |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |
Operating Loss Carryforwards |  |  |  | $ 15,300,000 |  |
Maximum [Member] |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent |  |  |  | 21.00% |  | 35.00%
Percentage for Subsidiary Service Tax |  | 15.00% |  |  |  |
Minimum [Member] |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |
Percentage for Subsidiary Service Tax |  | 12.36% |  |  |  |

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