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Income Taxes - Reconciliation to federal statutory rate (Details) - USD ($)	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Expense Benefit Continuing Operations Income Tax Reconciliation [Abstract]
Federal income taxes at statutory rate									$ 8,208,000	$ 4,964,000	$ 9,267,000
State income taxes, net of federal benefit									325,000	505,000	2,685,000
Goodwill impairment									2,322,000	1,883,000
Foreign taxes									3,328,000	2,276,000	2,150,000
Change in valuation allowance									(374,000)	3,919,000	9,540,000
Research and development credits									(1,001,000)	(626,000)	(273,000)
Foreign tax credits									(1,150,000)	(283,000)	(429,000)
Nondeductible meals and entertainment									377,000	724,000	782,000
US tax reform - revaluation of deferred taxes											102,000
US tax reform - transition tax, net of credits											(3,496,000)
Change in permanent reinvestment assertion									776,000		(1,792,000)
Disposals and liquidations of businesses									(935,000)
Global intangible low-tax income, net of credits									(54,000)	892,000	454,000
Foreign-derived intangible income deduction									(115,000)	(315,000)	(323,000)
Tax rate changes									(359,000)	486,000	(392,000)
Other									665,000	(314,000)	267,000
Provision for income taxes	$ 2,459,000	$ 11,729,000	$ 6,311,000	$ (8,486,000)	$ 2,991,000	$ 5,328,000	$ 2,859,000	$ 2,933,000	$ 12,013,000	$ 14,111,000	$ 18,542,000

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