Income Taxes - Income Tax Provision/(Benefit) and Deferred Income Taxes (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Taxes [Line Items]
Undistributed Earnings of Foreign Subsidiaries	$ 71,000,000
Deferred income tax assets benefits percentage	100.00%
Valuation allowance	$ 26,453,000	$ 27,925,000
Domestic Country
Income Taxes [Line Items]
Valuation allowance	0
Operating loss carryforward	$ 8,000,000	13,000,000
Operating Loss Carryforwards, Expiration Dates	begin to expire in 2029 and can be utilized through 2033
State And Local Jurisdiction
Income Taxes [Line Items]
Valuation allowance	$ 1,300,000
Deferred income tax assets net of federal benefit	1,200,000
Operating loss carryforward	$ 29,000,000	42,000,000
Operating Loss Carryforwards, Expiration Dates	will expire beginning in 2024 with a portion of the losses available over an indefinite period of time
Foreign Country
Income Taxes [Line Items]
Valuation allowance	$ 25,100,000
Deferred income tax assets net of federal benefit	35,900,000
Operating loss carryforward	$ 102,000,000	$ 104,000,000
Operating Loss Carryforwards, Expiration Dates	2031