Goodwill and Other Intangible Assets - Intangible Assets (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Intangible Assets
Impairment of goodwill	$ 0	$ 0
Impairment of acquired finite-lived intangible assets	0	0
Intangible amortization expense	3,866,000	3,866,000
Intangible assets subject to amortization, Gross Book Value	65,885,000	65,885,000
Intangible assets subject to amortization, Accumulated Amortization	(51,763,000)	(47,897,000)
Intangible assets subject to amortization, Net Book Value	$ 14,122,000	17,988,000
Customer relationships
Intangible Assets
Weighted Average Life	17 years 2 months 12 days
Intangible assets subject to amortization, Gross Book Value	$ 55,454,000	55,454,000
Intangible assets subject to amortization, Accumulated Amortization	(41,971,000)	(38,695,000)
Intangible assets subject to amortization, Net Book Value	$ 13,483,000	16,759,000
Acquired Technology
Intangible Assets
Weighted Average Life	10 years
Intangible assets subject to amortization, Gross Book Value	$ 7,101,000	7,101,000
Intangible assets subject to amortization, Accumulated Amortization	(6,967,000)	(6,767,000)
Intangible assets subject to amortization, Net Book Value	$ 134,000	334,000
Trademarks
Intangible Assets
Weighted Average Life	8 years 8 months 12 days
Intangible assets subject to amortization, Gross Book Value	$ 3,330,000	3,330,000
Intangible assets subject to amortization, Accumulated Amortization	(2,825,000)	(2,435,000)
Intangible assets subject to amortization, Net Book Value	$ 505,000	$ 895,000