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Income Taxes (Tables)
 12 Months Ended
Dec. 31, 2019
Income Tax Disclosure [Abstract]  
Schedule of Reconciliation of Federal Statutory Rate on Loss before Income Taxes and before Gain from Sale of Equity Method Investment Rate to Effective Income Tax Rate
The reconciliation of the federal statutory rate on the income (loss) before income taxes to the effective income tax rate for the years ended December 31 is as follows:
 
2019
 
  
2018
 
  
2017
 
Statutory federal tax rate
   
21.0
 %    
21.0
 %    
(34.0
 )%
State income taxes, net of federal income tax benefit
   
(8.1
 )    
3.6
      
97.2
  
Increase (decrease) in valuation allowance
   
2.2
      
(9.1
 )    
(936.1
 )
Permanent items
   
(3.9
 )    
(5.9
 )    
(861.2
 )
Tax credits
   
(15.6
 )    
(5.5
 )    
(1,222.3
 )
Provision vs. tax return differences
   
9.0
      
(1.7
 )    
—
  
Foreign rate differential and deferred items
   
0.6
      
0.7
      
(91.8
 )
Change in tax reserves
   
—
      
0.1
      
(5.1
 )
Rate change due to tax reform
   
—
      
—
      
3,441.1
  
Refundable income taxes—AMT credit
   
—
      
—
      
(751.0
 )
Other
   
—
      
0.1
      
(0.1
 )
                         
    
5.2
 %    
3.3
 %    
(363.3
 )%
                         
Schedule of Domestic and Foreign Components of Income (Loss) Before Income Taxes and before the Gain from Sale of Equity Method Investment
For financial reporting purposes, income (loss) before income taxes for the years ended December 31 include the following components (in thousands):
 
2019
 
  
2018
 
  
2017
 
Domestic
  $
13,493
     $
31,455
     $
(1,591
 )
Foreign
   
1,394
      
1,478
      
1,493
  
                         
   $
14,887
     $
32,933
     $
(98
 )
                         
Schedule of Components of Provision (Benefit) for Income Taxes
Significant components of the provision (benefit) for income taxes for the years ended December 31 are as follows (in thousands):
 
2019
 
  
2018
 
  
2017
 
Current:
   
     
     
 
Federal
  $
—
     $
—
     $
(736
 )
State
   
268
      
231
      
156
  
Foreign
   
450
      
911
      
396
  
                         
    
718
      
1,142
      
(184
 )
Deferred:
   
     
     
 
Foreign
   
60
      
(55
 )    
(172
 )
                         
    
60
      
(55
 )    
(172
 )
                         
   $
778
     $
1,087
     $
(356
 )
                         
Schedule of Significant Components of Deferred Tax Assets and Liabilities Significant components of the Company’s deferred tax assets and liabilities as of December 31 were as follows (in thousands):
 
2019
 
  
2018
 
Deferred tax assets:
   
     
 
Research and development tax credit carryforwards
  $
 27,607
     $
 23,244
  
Investment tax credit carryforwards
   
2,102
      
1,976
  
Stock-based compensation
   
1,587
      
3,133
  
Inventory reserves
   
1,522
      
2,109
  
Vacation accrual
   
1,280
      
1,218
  
Deferred revenue, net
   
796
      
66
  
Lease liabilities
   
679
      
—
  
UNICAP
   
351
      
275
  
Net operating loss carryforwards
   
328
      
1,091
  
International deferred tax assets
   
205
      
265
  
Sales allowances
   
172
      
128
  
Unrealized loss on investments
   
132
      
132
  
Contingent consideration liabilities
   
98
      
88
  
Warranty reserves
   
66
      
35
  
Bad debt reserves
   
14
      
52
  
Other
   
225
      
233
  
                 
Total deferred tax assets
   
37,164
      
34,045
  
Less: Valuation allowance for deferred tax assets
   
(30,363
 )    
(30,031
 )
                 
Net deferred tax assets
   
6,801
      
4,014
  
Deferred tax liabilities:
   
     
 
Depreciation
   
(5,296
 )    
(3,144
 )
ROU assets
   
(653
 )    
—
  
Prepaid expenses
   
(552
 )    
(473
 )
Patent amortization
   
(91
 )    
(107
 )
Other
   
(4
 )    
(25
 )
                 
Total deferred tax liabilities
   
(6,596
 )    
(3,749
 )
                 
Net deferred tax assets (liabilities)
  $
205
     $
265
  
                 
Schedule of Reconciliation of Beginning and Ending Amount of Unrecognized Tax Benefits
A reconciliation of the beginning and ending amount of unrecognized tax benefits is as follows (in thousands):
 
2019
 
  
2018
 
  
2017
 
Balance on January 1
  $
  1,462
     $
  1,104
     $
946
  
Additions based on tax positions related to the current year
   
571
      
245
      
138
  
Additions for tax positions of prior years
   
43
      
120
      
29
  
Settlements
   
—
      
—
      
(1
 )
Lapse of statute
   
(6
 )    
(7
 )    
(8
 )
                         
Balance on December 31
  $
 2,070
     $
 1,462
     $
 1,104