Income Taxes Reconciliation of unrecognized tax benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Unrecognized Tax Benefits, Beginning Balance	$ 339,000	$ 633,000	$ 954,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions	0	0	12,000
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions	25,000	10,000	0
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions	0	0	0
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	295,000	304,000	333,000
Unrecognized Tax Benefits, Ending Balance	69,000	339,000	633,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	100,000	300,000	600,000
Income Tax Examination, Penalties and Interest Expense	56,000	45,500	35,000
Income Tax Examination, Penalties and Interest Accrued	$ 9,500	$ 65,500	$ 111,000