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Goodwill and Intangibles - Definite-lived Intangible assets (Details) - USD ($)
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Acquired Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Amount     $ 17,420,000
Accumulated Amortization     (9,801,000)
Net Carrying Amount     $ 7,619,000
Intangible asset amortization expense $ 412,000 $ 487,000  
Trade name      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 25 years   25 years
Gross Carrying Amount $ 250,000   $ 250,000
Accumulated Amortization (80,000)   (78,000)
Net Carrying Amount $ 170,000   $ 172,000
Trademarks      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 10 years   10 years
Gross Carrying Amount $ 1,610,000   $ 1,610,000
Accumulated Amortization (839,000)   (798,000)
Net Carrying Amount $ 771,000   $ 812,000
Non-competition agreement      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 5 years   5 years
Gross Carrying Amount $ 1,810,000   $ 1,810,000
Accumulated Amortization (1,810,000)   (1,795,000)
Net Carrying Amount $ 0   $ 15,000
Developed technology      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 7 years   7 years
Gross Carrying Amount $ 4,420,000   $ 4,420,000
Accumulated Amortization (3,288,000)   (3,131,000)
Net Carrying Amount 1,132,000   1,289,000
Customer relationships      
Acquired Finite-Lived Intangible Assets [Line Items]      
Gross Carrying Amount 9,330,000   9,330,000
Accumulated Amortization (4,196,000)   (3,999,000)
Net Carrying Amount $ 5,134,000   $ 5,331,000
Customer relationships | Minimum      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 10 years   10 years
Customer relationships | Maximum      
Acquired Finite-Lived Intangible Assets [Line Items]      
Amortization Period 12 years   12 years