Income Taxes Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Valuation Allowance [Line Items]
Operating loss carryforwards		$ 2,100,000
Loss carryforward of foreign subsidiary and joint venture	$ 91,000	145,000
Federal and state research and development credit carryforwards		3,500,000
Unrecognized tax benefit that would affect the effective tax rate		608,000
Interest and penalties related to unrecognized tax benefits accrued		50,000	$ 28,000
Interest and penalties recognized related to unrecognized tax expense (benefits)	$ (22,300)	$ (22,000)
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%
Domestic Tax Authority
Valuation Allowance [Line Items]
Operating loss carryforwards		$ 94,000,000.0
State and Local Jurisdiction
Valuation Allowance [Line Items]
Operating loss carryforwards		$ 66,300,000