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Sale of Investment in Software Company (Details) - USD ($)
12 Months Ended
Oct. 31, 2018
Jul. 06, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Equity Securities without Readily Determinable Fair Value [Line Items]          
Gain on sale of BriefCam, Ltd.     $ 0 $ (41,000) $ (6,602,000)
BriefCam, Canon Inc          
Equity Securities without Readily Determinable Fair Value [Line Items]          
Proceeds from Sale of Other Investments $ 100,000 $ 9,700,000