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Financing Arrangements - Japan Term Loan Facility (Details)
1 Months Ended 3 Months Ended 6 Months Ended
Aug. 31, 2020
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2021
JPY (¥)
Jun. 30, 2020
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2021
JPY (¥)
Jun. 30, 2020
USD ($)
Jun. 30, 2021
JPY (¥)
Aug. 31, 2020
JPY (¥)
Line of Credit Facility [Line Items]                  
Interest expense, debt   $ 221,000   $ 212,000 $ 460,000   $ 377,000    
Japan Term Loan Facility                  
Line of Credit Facility [Line Items]                  
Debt instrument, term 5 years                
Debt instrument, face amount   15,300,000     15,300,000     ¥ 1,700,000,000  
Long-term debt, current maturities   3,600,000     3,600,000     ¥ 400,000,000  
Interest expense, debt   $ 34,000 ¥ 3,721,000   71,000 ¥ 7,612,000      
Japan Term Loan Facility | Secured Debt                  
Line of Credit Facility [Line Items]                  
Debt instrument, face amount $ 18,000,000               ¥ 2,000,000,000
Debt instrument, periodic payment, principal         $ 900,000 ¥ 100,000,000      
Japan Term Loan Facility | Secured Debt | Tokyo Interbank Offered Rate (TIBOR)                  
Line of Credit Facility [Line Items]                  
Debt instrument, basis spread on variable rate         0.80% 0.80%