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Summary of Significant Accounting Policies - Intangibles (Details)	12 Months Ended
	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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- Definition

The aggregate expense charged against earnings to allocate the cost of intangible assets (nonphysical assets not used in production) in a systematic and rational manner to the periods expected to benefit from such assets. As a noncash expense, this element is added back to net income when calculating cash provided by or used in operations using the indirect method.

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Useful life of finite-lived intangible assets, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Accumulated amount of amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

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Amount of amortization for assets, excluding financial assets and goodwill, lacking physical substance with finite life expected to be recognized in second fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount before amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

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Amount of assets, excluding financial assets and goodwill, lacking physical substance and having a projected indefinite period of benefit.

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Amount before accumulated amortization of intangible assets, excluding goodwill.

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The expense charged against earnings to eliminate the capitalized costs of projects that have been terminated during the reporting period, which is added back to net income when calculating cash provided by (used in) operations using the indirect method.

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Amount of impairment loss or recovery related to marketable securities.

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