Taxes - Additional Information (Details) - USD ($)	1 Months Ended		3 Months Ended	12 Months Ended
	Oct. 31, 2016	Sep. 30, 2015	Dec. 31, 2017	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Taxes [Line Items]
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent				21.00%	21.00%
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount			$ 25,800,000
Toll tax charge			0
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Amount			2,300,000
Deferred Tax Assets, Valuation Allowance				$ 6,521,000	$ 6,098,000
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount				400,000	(700,000)
Undistributed Earnings of Foreign Subsidiaries				25,700,000
Unrecognized Tax Benefits			$ 2,177,000	2,957,000	2,424,000	$ 2,177,000
Income Tax Examination, Penalties and Interest Accrued				200,000	100,000
Subsidiary Revenue		$ 66,000,000
Reversal of Service Tax Refund	$ 160,000
Service Tax Credit Receivable	$ 1,000,000
Income Tax Expense (Benefit)				1,091,000	$ 1,808,000
Canadian Subsidiaries [Member]
Income Taxes [Line Items]
Operating Loss Carryforwards				13,400,000
Canadian Subsidiaries [Member] | Research Tax Credit Carryforward [Member]
Income Taxes [Line Items]
Tax Credit Carryforward, Amount				1,500,000
Domestic Tax Authority [Member]
Income Taxes [Line Items]
Operating Loss Carryforwards				$ 15,300,000
Maximum [Member]
Income Taxes [Line Items]
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent				21.00%		35.00%
Percentage for Subsidiary Service Tax		15.00%
Minimum [Member]
Income Taxes [Line Items]
Percentage for Subsidiary Service Tax		12.36%