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Valuation and Qualifying Accounts Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee severance accruals      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year $ 162 $ 837 $ 1,141
Charged to costs and expenses 1,431 596 1,265
Deduction 952 1,271 1,569
Balance at  end of year 641 162 837
Valuation allowance of the deferred tax asset      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 222 233 276
Charged to costs and expenses 0 0 0
Deduction 24 11 43
Balance at  end of year 198 222 233
SEC Schedule, 12-09, Valuation Allowance, Current [Member]      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 1,287 849 769
Charged to costs and expenses 1,240 1,617 1,088
Deduction 1,537 1,179 1,008
Balance at  end of year 990 1,287 849
SEC Schedule, 12-09, Valuation Allowance, Noncurrent [Member]      
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year 1,644 1,290 1,227
Charged to costs and expenses 543 701 532
Deduction 1,108 347 469
Balance at  end of year $ 1,079 $ 1,644 $ 1,290