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Income Taxes (Details) - USD ($)
 1 Months Ended
Oct. 31, 2016
Sep. 30, 2015
Mar. 31, 2024
Dec. 31, 2023
Income Taxes        
Indian subsidiary revenues   $ 56,000,000.0    
Reversal of service tax refund $ 120,000      
Service tax credit receivable $ 800,000      
Reserves for uncertain tax positions     $ 2,021,000 $ 1,942,000
Maximum        
Income Taxes        
Percentage for subsidiary service tax   15.00%    
Minimum        
Income Taxes        
Percentage for subsidiary service tax   12.36%