Guarantees (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Product Warranty
Period of warranty	12 months
Change in warranty accrual
Beginning accrued product warranty	$ 669,000	$ 743,000
Accruals for warranties issued	794,000	1,024,000
Adjustments related to pre-existing warranties including expirations and changes in estimates	(159,000)	(286,000)
Cost of warranty repair	(601,000)	(812,000)
Ending accrued product warranty	$ 703,000	$ 669,000