Shareholders' Equity - Schedule of Activity Under Stock Option Plans (Details) - 2015 Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares under the plan	2,000,000
Number of Options Outstanding Beginning Balance	307,000	470,000
Number of Options Exercised		(45,000)
Number of Options Cancelled/Expired	(158,000)	(118,000)
Number of Options Outstanding Ending Balance	149,000	307,000	470,000
Number of Options Exercisable	149,000	289,000
Available for Issuance Number of Options Ending Balance	1,851,000	1,530,000
Weighted Average Exercise Price
Outstanding Weighted Average Exercise Price Beginning Balance	$ 1.80	$ 1.80
Weighted Average Exercise Price Exercised		1.26
Weighted Average Exercise Price Cancelled/Expired	2.08	2.17
Outstanding Weighted Average Exercise Price Ending Balance	1.42	1.80	$ 1.80
Weighted Average Exercise Price Exercisable Ending Balance	$ 1.32	$ 1.76
Weighted Average Remaining Contractual Life
Weighted Average Remaining Contractual Life Options Outstanding	2 years 8 months 12 days	2 years 7 months 6 days	3 years 3 months 18 days
Weighted Average Remaining Contractual Life Options Exercisable	2 years 8 months 12 days	2 years 8 months 12 days
Aggregate Intrinsic Value
Outstanding Aggregate Intrinsic Value		$ 45	$ 125
Aggregate Intrinsic Value Exercisable		$ 45