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Note 12 - Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Allowance for doubtful accounts | $ 341 | $ 756
Inventory reserves | 1,367 | 1,505
Warranty liability | 1,856 | 1,551
Deferred compensation | 2,349 | 1,659
Earnout liabilities | 245 | 297
Pension and retiree health benefit obligations | 1,344 | 1,573
Interest rate swap | 0 | 1,615
Accrued vacation | 1,278 | 1,440
Medical claims reserve | 0 | 48
Research expenditures | 3,711 | 0
Operating lease liabilities | 4,648 | 5,011
Net operating losses | 2,126 | 3,182
Other accrued liabilities | 4,301 | 5,106
Other | 990 | 663
Valuation allowance | (2,071) | (3,273)
Total deferred tax assets | 22,485 | 21,133
Deferred tax liabilities: |  |
Interest rate swaps | (1,729) | 0
Tax deductible goodwill and other intangibles | (35,492) | (35,609)
Accelerated depreciation | (10,225) | (9,918)
Operating leases - right of use assets | (4,288) | (4,626)
Other | (588) | (769)
Total deferred tax liabilities | (52,322) | (50,922)
Net deferred tax liabilities | $ (29,837) | $ (29,789)

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