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Income Taxes - Deferred income tax balances (Details) - USD ($)
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Stock and long-term compensation plans $ 923,000 $ 1,337,000
Foreign NOL & other carryforwards 41,154,000 38,153,000
US and state NOL carryforwards 5,654,000 5,539,000
Deferred revenue 863,000 2,068,000
Pension liability 498,000 1,547,000
Amortization and depreciation 526,000 257,000
Lease liability 2,641,000 3,171,000
Capitalized research and development 487,000 0
Accrued expenses and other 1,427,000 1,157,000
Total gross deferred tax assets 54,173,000 53,229,000
Less: Valuation allowance (39,177,000) (34,979,000)
Net deferred income tax assets 14,996,000 18,250,000
Deferred tax liabilities:    
Accruals 319,000 231,000
Tax on unremitted foreign earnings 1,249,000 1,357,000
Right of use asset 2,531,000 2,872,000
Intangible assets 3,009,000 5,225,000
Tax on credits 3,736,000 3,439,000
Contract acquisition costs 3,448,000 2,626,000
Deferred tax liabilities 14,292,000 15,750,000
Deferred tax assets $ 704,000 $ 2,500,000