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Summary of Significant Accounting Policies - Intangibles (Details) | 12 Months Ended
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Dec. 31, 2021 USD ($) item | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($)
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
2022 | $ 1,073,000 |  |
2023 | 957,000 |  |
2024 | 770,000 |  |
2025 | 680,000 |  |
2026 | 586,000 |  |
Thereafter | 3,207,000 |  |
Total | $ 7,273,000 |  |
Number of primary criteria to determine capitalization of patent | item | 3 |  |
Impairment loss or recoveries | $ 0 | $ 0 |
Total gross carrying amount | 24,925,000 | 23,429,000 |
Total intangible assets, net | 16,493,000 | 15,977,000 |
Abandonment of capitalized intangible assets | 934,000 | 535,000 | $ 221,000
Amortization expense for patents, licenses, and other intangible assets | 1,200,000 | 1,100,000 | $ 900,000
Nonamortizable intangible assets (trademarks) |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Nonamortizable intangible assets (trademarks) | $ 399,000 | 399,000 |
Acquired licenses | Minimum |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Estimated economic life | 1 year |  |
Acquired licenses | Maximum |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Estimated economic life | 18 years |  |
Patents |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Accumulated amortization | $ (6,800,000) | (5,791,000) |
Patents | Minimum |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Estimated economic life | 3 years |  |
Patents | Maximum |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Estimated economic life | 27 years |  |
Patents, definite life |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Amortizable intangible assets | $ 13,231,000 | 12,038,000 |
Patents, pending issuance |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Amortizable intangible assets | 8,821,000 | 8,432,000 |
Licenses and other amortizable intangible assets |  |  |
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract] |  |  |
Amortizable intangible assets | 2,474,000 | 2,560,000 |
Accumulated amortization | $ (1,632,000) | $ (1,661,000) |

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