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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Deferred tax assets:    
Accounts receivable, due to allowance for doubtful accounts $ 221 $ 373
Inventories 1,209 776
Operating loss carry-forwards 2,744 1,343
Stock-based compensation expense 874 807
Property and equipment, due to difference in depreciation 841 47
Research and development tax credit carry-forwards 5,640 5,243
Foreign tax credit carry-forwards 2,345 2,345
State tax credit carry-forwards 3,838 3,146
Capitalized research and development 3,154 3,263
Warranty reserve 429 523
Accrued expenses 1,216 845
Lease liability 1,574 1,378
Gross deferred tax assets 24,085 20,089
Less valuation allowance (22,432) (18,452)
Total deferred tax assets 1,653 1,637
Deferred tax liabilities:    
Purchased intangible assets (384) (844)
Property and equipment, due to differences in depreciation (50) (132)
Right of use asset (1,564) (1,378)
Total deferred tax liabilities (1,998) (2,354)
Net deferred tax liability (345) (717)
Deferred income tax asset 73 45
Deferred income tax liability $ (418) $ (762)