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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Inventories $ 1,678 $ 1,479
Employee compensation and benefits 2,324 2,078
Accrued liabilities and reserves 6,466 5,862
Property, plant and equipment 3,290 2,794
Tax loss carryforwards 18,129 16,997
Tax credit carryforwards 22,191 20,802
Capitalized research and development 4,345 4,785
Lease liability 2,351 2,817
Other 1,040 1,213
Gross deferred tax assets 61,814 58,827
Less: Valuation allowance (21,082) (18,496)
Deferred tax assets less valuation allowance 40,732 40,331
Deferred tax liabilities:    
Property, plant and equipment (1,271) (2,038)
Intangible assets (8,942) (10,056)
Right-of-use-assets (2,059) (2,595)
Other (5,292) (4,991)
Gross deferred tax liabilities (17,564) (19,680)
Net deferred tax assets $ 23,168 $ 20,651