The Company and Summary of Significant Accounting Policies - Revenue Recognition (Details)	3 Months Ended	12 Months Ended
Dec. 31, 2020 USD ($)	Dec. 31, 2020 USD ($) segment	Dec. 31, 2019 USD ($) subsidiary
Revenue Recognition
Number of consolidated subsidiaries \| subsidiary			1
Accounts receivable	$ 24,558,000	$ 24,558,000	$ 19,031,000
Accrued liabilities	15,995,000	15,995,000	11,681,000
Revenue
Contract liabilities	(374,000)	(374,000)	$ (396,000)
Amounts included in contract balances	$ 9,000	$ 251,000
Number of operating segments \| segment		1
Revenue, Practical Expedient, Incremental Cost of Obtaining Contract		true
Revenue, Practical Expedient, Financing Component		true
Revenue, Practical Expedient, Remaining Performance Obligation		true
Maximum
Revenue Recognition
Sales commissions benefit period		1 year

Period at which sales commissions are expected to be received.

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Represents number of joint ventures in which entity has interest and therefore has consolidated the figures as the date of reporting.

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Amount, after allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business, classified as current.

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Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to costs that are statutory in nature, are incurred on contractual obligations, or accumulate over time and for which invoices have not yet been received or will not be rendered. Examples include taxes, interest, rent and utilities. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as current.

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Number of operating segments. An operating segment is a component of an enterprise: (a) that engages in business activities from which it may earn revenues and incur expenses (including revenues and expenses relating to transactions with other components of the same enterprise), (b) whose operating results are regularly reviewed by the enterprise's chief operating decision maker to make decisions about resources to be allocated to the segment and assess its performance, and (c) for which discrete financial information is available. An operating segment may engage in business activities for which it has yet to earn revenues, for example, start-up operations may be operating segments before earning revenues.

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Indicates (true false) whether practical expedient was elected not to adjust consideration for effect of financing component when transfer and customer payment for product or service occurs within one year or less.

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Indicates (true false) whether practical expedient was elected to recognize incremental cost of obtaining contract as expense when incurred if amortization period would have been one year or less.

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Indicates (true false) whether optional exemption was applied not to disclose amount of transaction price allocated to and explanation of expected timing of revenue recognition for remaining performance obligation, when contract has expected duration of one year or less or right to consideration corresponds directly to performance completed.

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