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Income Taxes - Statutory Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Taxes
Statutory tax rate percentage	21.00%	21.00%	21.00%
Reconciliation of statutory tax and provision
Expected tax at statutory rate	$ (718)	$ 3,026	$ 549
Foreign taxes at other rates	(309)	(914)	(1,252)
Valuation reserves on NOL carryforwards	2,617	2,042	2,894
US tax reform - deemed repatriation			(2,534)
Global intangible low-taxed income inclusion	339	(27)	23
US tax reform - deferred tax expense from tax rate change			(462)
State income taxes, net of federal benefit	32	108	(79)
Uncertain tax positions	235	1,845	171
Disallowed expenses and other	(161)	465	255
Total	$ 2,035	$ 6,545	$ (435)

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations, attributable to increase (decrease) in the income tax rates.

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