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Financing Arrangements - Japan Term Loan Facility (Details) | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Aug. 31, 2020 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2021 JPY (¥) | Dec. 31, 2020 USD ($) | Dec. 31, 2020 JPY (¥) | Dec. 31, 2019 USD ($) | Dec. 31, 2021 JPY (¥) | Aug. 31, 2020 JPY (¥)
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |
Interest expense, debt |  | $ 852,000 |  | $ 880,000 |  | $ 463,000 |  |
Japan Term Loan Facility |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |
Debt instrument, term | 5 years |  |  |  |  |  |  |
Debt instrument, face amount |  | 13,031,000 |  |  |  |  | ¥ 1,500,000,000 |
Long-term debt, current maturities |  | 3,475,000 |  |  |  |  | ¥ 400,000,000 |
Interest expense, debt |  | 132,000 | ¥ 14,511,000 | $ 60,000 | ¥ 6,226,000 |  |  |
Japan Term Loan Facility | Secured Debt |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |
Debt instrument, face amount | $ 17,374,000 |  |  |  |  |  |  | ¥ 2,000,000,000
Debt instrument, periodic payment, principal |  | $ 868,700 | ¥ 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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