Annual report pursuant to Section 13 and 15(d)

Income Taxes - Additional Information (Details)

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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Line Items]      
Valuation allowance $ 14,281,000 $ 11,814,000 $ 8,088,000
Change in valuation allowance   2,467,000 3,726,000
Undistributed earnings of foreign subsidiaries 9,156,000    
Recognized federal net operating loss carryforwards net of tax 37,206,000    
Recognized state net operating loss carryforwards net of tax 7,319,000    
Unrecognized tax benefits accounted for as a reduction in deferred tax assets 31,000    
Unrecognized tax benefits would affect the effective tax rate if recognized 1,159,000    
Unrecognized tax benefits 1,190,000 6,900,000 5,957,000
Gross (decreases)-prior period tax positions 5,818,000    
Decreases-prior period tax positions related to de-recognized net operating losses and tax credits 5,042,000    
Unrecognized tax benefits decrease resulting from settlements with taxing authorities 776,000    
Accrued interest and penalties related to unrecognized tax benefits 262,000 229,000  
Accrued liability for Interest and penalties related to unrecognized tax benefits 84,000 346,000  
Settlements prior period tax positions 95,000    
Federal      
Income Tax Disclosure [Line Items]      
Research and development tax credit 0 632,000  
California      
Income Tax Disclosure [Line Items]      
Research and development tax credit 117,000 117,000  
Expire Beginning in 2020      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers 9,938,000    
Federal      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers 56,805,000 42,415,000 $ 46,866,000
State      
Income Tax Disclosure [Line Items]      
Net operating loss carryovers $ 12,418,000 $ 11,492,000