I did some research and found out that this door problem was common. Appliance Pro had a good Q & A on this which led me to a repair kit for the model number of our oven. The kit included both parts of the oven hinges and the interior panel of the oven door. I also replaced the oven door gasket.
The repair process went well. I followed the oven instruction manual for removal of the door and proceeded to take the door apart. It took about an hour working carefully and cleaning parts that were dirty. To get to the receiver pieces of the hinge you need to take out four screws and pull the oven out of the cabinet about 4 inches. The oven door works better than it did when it was new.