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Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Deferred tax assets: |  |
Inventory | $ 4.1 | $ 3.7
Compensation and employee benefits | 11.4 | 14.8
Warranty reserves | 2.3 | 2.2
Allowance for doubtful accounts and deferred revenue | 2.3 | 2.3
Operating lease liabilities | 5.9 | 8.2
Tax loss carryforwards | 8.0 | 7.7
Tax credit carryforwards | 3.6 | 4.5
Capitalized research and development costs | 6.6 | 0.0
Other | (0.9) | 0.7
Gross deferred tax assets | 43.3 | 44.1
Less: valuation allowance | (3.3) | (4.8)
Total net deferred tax assets | 40.0 | 39.3
Deferred tax liabilities: |  |
Operating lease assets | 6.1 | 8.1
Fixed assets | 11.2 | 13.0
Goodwill and intangible assets | 13.8 | 23.0
Total deferred tax liabilities | 31.1 | 44.1
Net deferred tax assets | $ 8.9 |
Net deferred tax assets (liabilities) |  | $ (4.8)

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