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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]      
Unremitted earnings of foreign subsidiaries $ 36,155,000    
General business tax credit carry forwards, expiration date Dec. 31, 2026    
Unrecognized tax benefits that would impact effective tax rate $ 2,545,000 $ 2,891,000  
Expense related to interest and penalties 0 $ 0 $ 0
Domestic Tax Authority      
Operating Loss Carryforwards [Line Items]      
General business and foreign tax credit carry forwards 19,055,000    
State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
Net operating loss carry forwards 48,430,000    
General business and foreign tax credit carry forwards $ 1,083,000    
State and Local Jurisdiction | Minimum      
Operating Loss Carryforwards [Line Items]      
Operating loss carry forwards, expiration dates Dec. 31, 2023    
State and Local Jurisdiction | Maximum      
Operating Loss Carryforwards [Line Items]      
Operating loss carry forwards, expiration dates Dec. 31, 2041    
Foreign Tax Authority      
Operating Loss Carryforwards [Line Items]      
Net operating loss carry forwards $ 73,553,000    
General business and foreign tax credit carry forwards $ 664,000    
Foreign Tax Authority | Minimum      
Operating Loss Carryforwards [Line Items]      
Operating loss carry forwards, expiration dates Dec. 31, 2023    
Foreign Tax Authority | Maximum      
Operating Loss Carryforwards [Line Items]      
Operating loss carry forwards, expiration dates Dec. 31, 2027