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Financing Arrangements - Japan Term Loan Facility (Details) | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Aug. 31, 2020 USD ($) | Jun. 30, 2021 USD ($) | Jun. 30, 2021 JPY (¥) | Jun. 30, 2020 USD ($) | Jun. 30, 2021 USD ($) | Jun. 30, 2021 JPY (¥) | Jun. 30, 2020 USD ($) | Jun. 30, 2021 JPY (¥) | Aug. 31, 2020 JPY (¥)
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Interest expense, debt |  | $ 221,000 |  | $ 212,000 | $ 460,000 |  | $ 377,000 |  |
Japan Term Loan Facility |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, term | 5 years |  |  |  |  |  |  |  |
Debt instrument, face amount |  | 15,300,000 |  |  | 15,300,000 |  |  | ¥ 1,700,000,000 |
Long-term debt, current maturities |  | 3,600,000 |  |  | 3,600,000 |  |  | ¥ 400,000,000 |
Interest expense, debt |  | $ 34,000 | ¥ 3,721,000 |  | 71,000 | ¥ 7,612,000 |  |  |
Japan Term Loan Facility | Secured Debt |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, face amount | $ 18,000,000 |  |  |  |  |  |  |  | ¥ 2,000,000,000
Debt instrument, periodic payment, principal |  |  |  |  | $ 900,000 | ¥ 100,000,000 |  |  |
Japan Term Loan Facility | Secured Debt | 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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