Revenue Recognition (Details) - Disaggregation of revenue from contracts with customers - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Digital product sales:
Revenue from contracts with customers	$ 4,142,000	$ 4,789,000	$ 11,477,000	$ 15,756,000
Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	3,933,000	4,510,000	10,821,000	14,763,000
Digital Product Lease and Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	209,000	279,000	656,000	993,000
Catalog and Small Customized Products [Member] | Digital Product Sales [Member]
Digital product sales:
Revenue from contracts with customers	3,933,000	4,510,000	10,821,000	14,763,000
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	113,000	135,000	361,000	446,000
Maintenance Agreements [Member] | Digital Product Lease and Maintenance [Member]
Digital product sales:
Revenue from contracts with customers	$ 96,000	$ 144,000	$ 295,000	$ 547,000