Income Taxes Reconciliation of unrecognized tax benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Unrecognized Tax Benefits, Beginning Balance	$ 954,000	$ 1,226,000	$ 664,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions	12,000	12,000	10,000
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions	0	2,000	781,000
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions	0	3,000	0
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	333,000	283,000	229,000
Unrecognized Tax Benefits, Ending Balance	633,000	954,000	1,226,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	600,000	900,000	1,100,000
Income Tax Examination, Penalties and Interest Expense	(35,000)	(7,500)	(79,500)
Income Tax Examination, Penalties and Interest Accrued	$ 111,000	$ 146,000	$ 153,500