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Equipment and Leasehold Improvements (Tables)
12 Months Ended
Dec. 31, 2019
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment [Table Text Block]
   December 31, 
   2019   2018 
Equipment  $37,743   $36,465 
Leasehold improvements   1,760    1,639 
    39,503    38,104 
Less accumulated depreciation and amortization   28,396    28,265 
   $11,107   $9,839