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Financing Arrangements - Japan Term Loan Facility (Details) - Japan Term Loan Facility - Secured Debt | 1 Months Ended | 3 Months Ended |  |
--- | --- | --- | --- | ---
Aug. 31, 2020 USD ($) | Mar. 31, 2021 USD ($) | Mar. 31, 2021 JPY (¥) | Mar. 31, 2021 JPY (¥) | Aug. 31, 2020 JPY (¥)
Line of Credit Facility [Line Items] |  |  |  |  |
Debt instrument, term | 5 years |  |  |  |
Debt instrument, face amount | $ 18,064,000 | $ 16,257,000 |  | ¥ 1,800,000,000 | ¥ 2,000,000,000
Long-term debt, current maturities |  | 3,612,800 |  | ¥ 400,000,000 |
Interest expense, debt |  | 37,000 | ¥ 3,891,000 |  |
Debt instrument, periodic payment, principal |  | $ 903,000 | ¥ 100,000,000 |  |
Tokyo Interbank Offered Rate (TIBOR) |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |
Debt instrument, basis spread on variable rate |  | 0.80% | 0.80% |  |

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