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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Operating Loss Carryforwards [Line Items]      
Provisional income tax expense as result of Tax Cuts and Jobs Act   $ 508,000  
Provisional transition tax as result of the Tax Cuts and Jobs Act   0  
Income tax benefit due to remeasure of foreign deferred tax liabilities as result of the Tax Cuts and Jobs Act   173,000  
Income tax expense due to remeasure of deferred taxes as result of the Tax Cuts and Jobs Act   681,000  
Income tax expense as result of 2017 Tax Cuts and Jobs Act $ 508,000    
Unrecognized deferred tax liability 484,000    
Total unrecognized tax benefits 178,000 239,000 $ 725,000
Unrecognized tax benefits affecting the company's effective income tax rate 152,000    
Unrecognized tax benefits, interest on income taxes accrued 207,000    
Foreign Tax Authority      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforwards, valuation allowance 11,600,000    
Operating loss carryforwards 47,300,000    
Increase in valuation allowance   $ 1,900,000  
Operating loss carryforward, indefinite 26,600,000    
Operating loss carryforward, expiring $ 20,700,000