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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets:    
Accounts receivable, due to allowance for doubtful accounts $ 373 $ 221
Inventories 1,211 1,209
Operating loss carry-forwards 5,784 2,744
Stock-based compensation expense 1,106 874
Property and equipment, due to difference in depreciation 1,978 841
Research and development tax credit carry-forwards 6,247 5,640
Foreign tax credit carry-forwards 2,345 2,345
State tax credit carry-forwards 3,975 3,838
Capitalized research and development 2,690 3,154
Warranty reserve 277 429
Accrued expenses 1,174 1,216
Lease liability 700 1,574
Gross deferred tax assets 27,860 24,085
Less valuation allowance (27,080) (22,432)
Total deferred tax assets 780 1,653
Deferred tax liabilities:    
Purchased intangible assets (199) (384)
Property and equipment, due to differences in depreciation (52) (50)
Right of use asset (688) (1,564)
Total deferred tax liabilities (939) (1,998)
Net deferred tax liability (159) (345)
Deferred income tax asset 56 73
Deferred income tax liability $ (215) $ (418)