Income Taxes Reconciliation of unrecognized tax benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Unrecognized Tax Benefits, Beginning Balance	$ 69,000	$ 339,000	$ 633,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions	47,000	0	0
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions	52,000	25,000	10,000
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	23,000	295,000	304,000
Unrecognized Tax Benefits, Ending Balance	145,000	69,000	339,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	100,000	100,000	300,000
Income Tax Examination, Penalties and Interest Expense	1,500	(56,000)	(45,500)
Income Tax Examination, Penalties and Interest Accrued	$ 11,000	$ 9,500	$ 65,500