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Income Taxes (Details) - USD ($) | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Oct. 31, 2016 | Sep. 30, 2015 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Taxes |  |  |  |  |
Valuation allowance |  |  | $ 13,769,000 | $ 13,008,000 |
Increase in total valuation allowance |  |  | 800,000 | 3,900,000 |
Research and development credits |  |  | 452,000 | 362,000 |
Foreign subsidiaries amount |  |  | 50,400,000 |  |
Indian subsidiary revenues |  | $ 56,000,000.0 |  |  |
Reversal of service tax refund | $ 121,000 |  |  |  |
Service tax credit receivable | $ 800,000 |  |  |  |
Reserves for uncertain tax positions |  |  | 1,942,000 | $ 1,680,000 | $ 1,753,000
Canadian subsidiaries |  |  |  |  |
Income Taxes |  |  |  |  |
NOL carryforwards subject to expiration |  |  | 27,000,000.0 |  |
Research and development credits not subject to expiration |  |  | 1,400,000 |  |
German and United Kingdom subsidiaries |  |  |  |  |
Income Taxes |  |  |  |  |
Operating loss carryforwards |  |  | 1,700,000 |  |
U.S. federal |  |  |  |  |
Income Taxes |  |  |  |  |
Operating loss carryforwards |  |  | 21,200,000 |  |
Research and development credits |  |  | $ 100,000 |  |
Maximum |  |  |  |  |
Income Taxes |  |  |  |  |
Percentage for subsidiary service tax |  | 15.00% |  |  |
Minimum |  |  |  |  |
Income Taxes |  |  |  |  |
Percentage for subsidiary service tax |  | 12.36% |  |  |

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