Revenue Recognition (Details) - Disaggregation of revenue from contracts with customers - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Digital product sales:
Revenue from contracts with customers	$ 17,035,000	$ 14,399,000
Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	14,710,000	11,958,000
Digital Product Lease And Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	2,325,000	2,441,000
Catalog And Small Customized Products [Member] | Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	13,322,000	10,958,000
Large Customized Products [Member] | Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	1,388,000	1,000,000
Operating Leases [Member] | Digital Product Lease And Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	1,215,000	1,413,000
Maintenance [Member] | Digital Product Lease And Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	$ 1,110,000	$ 1,028,000