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Revenue Recognition (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
Total net sales $ 5,054,000 $ 4,435,000 $ 3,347,000 $ 4,646,000 $ 6,175,000 $ 4,549,000 $ 5,727,000 $ 5,077,000 $ 17,482,000 $ 21,528,000
Products and Services Transferred Over Time                    
Total net sales                 10,670,000 15,029,000
Products and Services Transferred at a Point in Time                    
Total net sales                 6,812,000 6,499,000
Services                    
Total net sales 5,054,000 4,317,000 3,133,000 4,400,000 5,612,000 4,295,000 5,320,000 4,576,000 16,904,000 19,803,000
Services | Products and Services Transferred Over Time                    
Total net sales                 10,670,000 15,029,000
Services | Products and Services Transferred at a Point in Time                    
Total net sales                 6,234,000 4,774,000
Products                    
Total net sales $ 0 $ 118,000 $ 214,000 $ 246,000 $ 563,000 $ 254,000 $ 407,000 $ 501,000 578,000 1,725,000
Products | Products and Services Transferred Over Time                    
Total net sales                 0 0
Products | Products and Services Transferred at a Point in Time                    
Total net sales                 $ 578,000 $ 1,725,000