Revenue Recognition (Details) - Disaggregation of revenue from contracts with customers - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	$ 2,986,000	$ 7,302,000	$ 7,335,000	$ 10,967,000
Digital Product Sales [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	2,767,000	7,016,000	6,888,000	10,253,000
Digital Product Lease And Maintenance [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	219,000	286,000	447,000	714,000
Catalog and Small Customized Products [Member] | Digital Product Sales [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	2,767,000	7,016,000	6,888,000	10,253,000
Large Customized Products [Member] | Digital Product Sales [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers
Operating Leases [Member] | Digital Product Lease And Maintenance [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	117,000	140,000	248,000	311,000
Maintenance Agreements [Member] | Digital Product Lease And Maintenance [Member]
Disaggregation of Revenue [Line Items]
Revenue from contracts with customers	$ 102,000	$ 146,000	$ 199,000	$ 403,000