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Income Taxes (Details) - USD ($)
1 Months Ended 12 Months Ended
Oct. 31, 2016
Sep. 30, 2015
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes          
Valuation allowance     $ 13,769,000 $ 13,008,000  
Increase in total valuation allowance     800,000 3,900,000  
Research and development credits     452,000 362,000  
Foreign subsidiaries amount     50,400,000    
Indian subsidiary revenues   $ 56,000,000.0      
Reversal of service tax refund $ 121,000        
Service tax credit receivable $ 800,000        
Reserves for uncertain tax positions     1,942,000 $ 1,680,000 $ 1,753,000
Canadian subsidiaries          
Income Taxes          
NOL carryforwards subject to expiration     27,000,000.0    
Research and development credits not subject to expiration     1,400,000    
German and United Kingdom subsidiaries          
Income Taxes          
Operating loss carryforwards     1,700,000    
U.S. federal          
Income Taxes          
Operating loss carryforwards     21,200,000    
Research and development credits     $ 100,000    
Maximum          
Income Taxes          
Percentage for subsidiary service tax   15.00%      
Minimum          
Income Taxes          
Percentage for subsidiary service tax   12.36%