Shareholders' Equity - Narrative (Details) - USD ($)		1 Months Ended	3 Months Ended	12 Months Ended
	Jan. 17, 2020	Jan. 31, 2020	Sep. 30, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Mar. 31, 2020
Shareholders' Equity [Line Items]
Proceeds from issuance of common stock, net of commissions				$ 0	$ 20,226,000	$ 0
Equity issuance costs					$ 176,000
Performance Shares | Maximum
Shareholders' Equity [Line Items]
Percentage of performance period				200.00%
Performance Shares | Minimum
Shareholders' Equity [Line Items]
Percentage of performance period				0.00%
InstruNor AS
Shareholders' Equity [Line Items]
Aggregate purchase price	$ 7,214,000	$ 7,200,000
Cash consideration paid on closing to former equity holders	$ 5,165,000	$ 5,200,000
Number of shares issued in business combination (in shares)	485,451	485,451
Common Stock | 2020 Market Offering
Shareholders' Equity [Line Items]
Maximum aggregate sale proceeds							$ 50,000,000
Shares sold (in shares)			2,500,000
Gross proceeds from issuance of common stock through at-the-market offering			$ 20,900,000
Proceeds from issuance of common stock, net of commissions			20,100,000
Commission expense			600,000
Equity issuance costs			$ 200,000