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Shareholders' Equity - 2012 Long-Term Incentive Plan (Details) - USD ($)
9 Months Ended 12 Months Ended
Jan. 01, 2021
Aug. 14, 2020
Sep. 30, 2021
Dec. 31, 2020
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]        
Number of restricted stock shares vested     34,206  
Stock-based compensation expense related to the restrictive share awards     $ 75,000 $ 336,000
Non-employee directors        
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]        
Number of restricted stock issued   13,160    
Compensation expense not yet recognized   $ 100,000    
2012 Long Term Incentive Plan        
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]        
Number of restricted stock shares vested 25,250      
Shares withheld to satisfy the tax obligations 9,920      
Value of shares withheld and repurchased $ 81,000