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INCOME TAXES - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred tax asset:    
Capitalized technology license and patents $ 561 $ 580
Capitalized research expenditures 3,150 4,291
Accruals and reserves 4,733 4,178
Retirement plan 14,560 15,444
Deferred revenue 11,361 16,834
Tax credit carry forwards 6,156 4,589
Stock-based compensation 1,110 1,059
Other 5,819 1,914
Deferred Tax Assets, Gross 47,450 48,889
Valuation allowance (5,911) (4,560)
Deferred tax assets 41,539 44,329
Deferred tax liability:    
Accruals and reserves (8,086) (6,634)
Deferred tax liabilities (8,086) (6,634)
Net deferred tax assets $ 33,453 $ 37,695