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Accumulated Other Comprehensive Loss (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Accumulated Other Comprehensive Income [Roll Forward]        
Beginning balance     $ 4,256,000  
Ending balance $ 2,024,000   2,024,000  
Accumulated other comprehensive income (loss) 0 $ 0 0 $ 0
Accumulated Other Comprehensive Loss        
Accumulated Other Comprehensive Income [Roll Forward]        
Beginning balance (4,690,000) (4,533,000) (4,905,000) (3,793,000)
Ending balance (4,803,000) (5,344,000) (4,803,000) (5,344,000)
Foreign Currency Translation        
Accumulated Other Comprehensive Income [Roll Forward]        
Other comprehensive income (loss) due to foreign currency translation, net of tax $ (113,000) $ (811,000) $ 102,000 $ (1,551,000)