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Financing Arrangements - Japan Term Loan (Details) | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Aug. 31, 2020 USD ($) | Jun. 30, 2022 USD ($) | Jun. 30, 2021 USD ($) | Jun. 30, 2021 JPY (¥) | Jun. 30, 2022 USD ($) | Jun. 30, 2021 USD ($) | Jun. 30, 2021 JPY (¥) | Jun. 30, 2022 JPY (¥) | Aug. 31, 2020 JPY (¥)
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Interest expense, debt |  | $ 200,000 | $ 300,000 |  | $ 400,000 | $ 500,000 |  |  |
Japan Term Loan |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, term | 5 years |  |  |  |  |  |  |  |
Debt instrument, face amount | ¥ |  |  |  |  |  |  |  | ¥ 1,500,000,000 |
Long-term debt, current maturities |  | 11,100,000 |  |  | 11,100,000 |  |  |  |
Interest expense, debt |  | $ 0 | $ 0 | ¥ 3,700,000 | $ 0 | $ 100,000 | ¥ 7,600,000 |  |
Japan Term Loan | Secured Debt |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, face amount | $ 14,700,000 |  |  |  |  |  |  |  | ¥ 2,000,000,000

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