Revenue Recognition (Details) - Disaggregation of revenue from contracts with customers - USD ($)	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Digital product sales:
Revenue from contracts with customers	$ 3,665,000	$ 2,586,000
Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	3,237,000	2,093,000
Digital Product Lease and Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	428,000	493,000
Catalog and Small Customized Products [Member] | Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	3,237,000	2,093,000
Large Customized Products [Member] | Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers
Operating Leases [Member] | Digital Product Lease and Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	171,000	209,000
Maintenance Agreements [Member]
Digital product sales:
Revenue from contracts with customers	$ 257,000	$ 284,000