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Income Taxes - Income Tax Provision/(Benefit) and Deferred Income Taxes (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Taxes [Line Items]    
Undistributed Earnings of Foreign Subsidiaries $ 70,000,000  
Deferred income tax assets benefits percentage 100.00%  
Valuation allowance $ 27,925,000 $ 29,983,000
Domestic Country    
Income Taxes [Line Items]    
Valuation allowance 0  
Operating loss carryforward $ 13,000,000 18,000,000
Operating Loss Carryforwards, Expiration Dates begin to expire in 2029 and can be utilized through 2033  
State And Local Jurisdiction    
Income Taxes [Line Items]    
Valuation allowance $ 2,000,000.0  
Deferred income tax assets net of federal benefit 3,200,000  
Operating loss carryforward $ 42,000,000 41,000,000
Operating Loss Carryforwards, Expiration Dates will expire beginning in 2023 with a portion of the losses available over an indefinite period of time  
Foreign Country    
Income Taxes [Line Items]    
Valuation allowance $ 26,000,000.0  
Deferred income tax assets net of federal benefit 34,700,000  
Operating loss carryforward $ 104,000,000 $ 116,000,000
Operating Loss Carryforwards, Expiration Dates 2031