Restructuring (Details) - USD ($)	3 Months Ended		12 Months Ended
	Dec. 31, 2020	Jun. 30, 2020	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 0		$ 0	$ 258,000
Restructuring charges			1,387,000	1,639,000	$ 2,930,000
Payments for Restructuring			(1,645,000)
Facility Closing [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	0		0	28,000
Restructuring charges			532,000
Payments for Restructuring			(560,000)
Employee Severance [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	0		0	$ 230,000
Restructuring charges		$ 900,000	855,000
Payments for Restructuring			$ (1,085,000)
Other Restructuring
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 500,000