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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective Income Tax Rate Reconciliation, Amount [Abstract]      
Statutory U.S. federal income tax (benefit) provision $ (2,246) $ 2,612 $ (2,252)
State income taxes, net of federal tax benefit 495 942 (647)
Tax credits and incentives (4,060) (3,316) (2,791)
Foreign tax rate differential 910 730 90
Impact of change in enacted tax law 300 227 1,108
Change in valuation allowance 5,248 5,070 2,174
U.S. tax on foreign earnings 1,376 (347) (519)
Tax impact of unconsolidated subsidiaries 395 1,828 (323)
Unremitted earnings on foreign subsidiaries (898) 835 86
Non-deductible expenses 657 740 498
Compensation and benefits 774 358 362
Other 409 (649) (560)
Total income tax expense (benefit) $ 3,360 $ 9,030 $ (2,774)