Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Income Taxes
Deferred tax assets, operating loss carryforwards	$ 3,911,000	$ 4,547,000
Credit carry-forwards	13,415,000	10,467,000
Deferred tax asset valuation allowance	8,370,000	8,386,000
Foreign tax credit carry-forwards	1,854,000	362,000
Research and development credits	9,362,000	8,082,000
Unrecognized tax benefits	1,943,000
Accrued for interest and penalties related to uncertain income tax	$ 39,000	39,000
Tax years subject to examination	2020 through 2022
Nondeductible for US Tax purposes		6,803,000
Disproportionate tax effect related to pension plan	$ 5,375,000
Earliest Tax Year
Income Taxes
Open tax year	2014
Latest Tax Year
Income Taxes
Open tax year	2022
Operating Loss Carryforward \| Minimum
Income Taxes
Tax credit carryforward, expiration year	2024
Operating Loss Carryforward \| Maximum
Income Taxes
Tax credit carryforward, expiration year	2043
Foreign Tax Credit Carryforward
Income Taxes
Valuation allowance against tax credit carryforwards	$ 172,000	172,000
Foreign Tax Credit Carryforward \| Minimum
Income Taxes
Tax credit carryforward, expiration year	2028
Foreign Tax Credit Carryforward \| Maximum
Income Taxes
Tax credit carryforward, expiration year	2033
Research Tax Credit Carryforward
Income Taxes
Valuation allowance against tax credit carryforwards	$ 449,000	$ 0
Research Tax Credit Carryforward \| Minimum
Income Taxes
Tax credit carryforward, expiration year	2024
Research Tax Credit Carryforward \| Maximum
Income Taxes
Tax credit carryforward, expiration year	2043

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Amount, before allocation of a valuation allowances, of deferred tax assets attributable to deductible tax credit carryforwards including, but not limited to, research, foreign, general business, alternative minimum tax, and other deductible tax credit carryforwards.

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

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The amount of estimated penalties and interest accrued as of the balance sheet date arising from income tax examinations.

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Tax year that remains open to examination under enacted tax laws, in YYYY format.

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Amount of current and deferred state and local tax expense (benefit) attributable to income (loss) from continuing operations. Includes, but is not limited to, current and deferred regional, territorial, and provincial tax expense (benefit) for non-US (United States of America) jurisdiction.

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Amount of valuation allowance pertaining to the deferred tax asset representing potential future taxable deductions from tax credit carryforwards for which it is more likely than not that a tax benefit will not be realized.

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