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Income Taxes - Deferred income tax balances (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Stock and long-term compensation plans $ 1,515 $ 923
Foreign NOL & other carryforwards 45,390 41,154
U.S. and state NOL carryforwards 7,866 5,654
Deferred revenue 650 863
Pension liability 531 498
Amortization and depreciation 1,626 526
Lease liability 2,383 2,641
Capitalized research and development 446 487
Accrued expenses and other 948 1,427
Total gross deferred tax assets 61,355 54,173
Less: Valuation allowance (47,844) (39,177)
Net deferred income tax assets 13,511 14,996
Deferred tax liabilities:    
Accruals 367 319
Tax on unremitted foreign earnings 1,164 1,249
Right of use asset 2,095 2,531
Intangible assets 2,217 3,009
Tax on credits 3,689 3,736
Contract acquisition costs 3,325 3,448
Deferred tax liabilities 12,857 14,292
Deferred tax assets $ 654 $ 704