Summary of Significant Accounting Policies (Details 4) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Total Revenues	$ 165,009	$ 147,591	$ 155,066
Other countries less than 5% of revenues	50,378	46,109	42,716
Unites States [Member]
Total Revenues	96,925	85,682	98,496
Germany [Member]
Total Revenues	8,593	9,712	7,996
China [Member]
Total Revenues	$ 9,113	$ 6,088	$ 5,858