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Income Taxes - Additional Information (Details) - USD ($)
 1 Months Ended 12 Months Ended
Oct. 31, 2016
Sep. 30, 2015
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Taxes [Line Items]          
Deferred Tax Assets, Valuation Allowance     $ 7,917,000 $ 6,521,000  
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount     1,400,000 1,800,000  
Unremitted Earnings of Foreign Subsidiaries     47,000,000    
Income Tax Expense (Benefit)     401,000 1,091,000  
Unrecognized Tax Benefits     3,231,000 $ 2,957,000 $ 2,424,000
Subsidiary Revenue   $ 64,000,000      
Reversal of Service Tax Refund $ 160,000        
Service Tax Credit Receivable $ 1,000,000        
Canadian Subsidiaries [Member]          
Income Taxes [Line Items]          
Operating Loss Carryforwards     16,100,000    
Domestic Tax Authority [Member]          
Income Taxes [Line Items]          
Operating Loss Carryforwards     $ 15,500,000    
Maximum          
Income Taxes [Line Items]          
Percentage for Subsidiary Service Tax   15.00%      
Minimum          
Income Taxes [Line Items]          
Percentage for Subsidiary Service Tax   12.36%