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Note 11 - Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets: |  |
Capitalized research and development costs | $ 2,320 | $ 1,260
Operating lease liabilities | 859 | 1,125
Accrued vacation pay and stock-based compensation | 433 | 465
Inventories | 395 | 602
Intangible assets | 369 | 140
Net operating loss (state and foreign) | 245 | 285
Acquisition costs | 44 | 46
Allowance for doubtful accounts | 44 | 43
Accrued warranty | 26 | 54
Tax credit carryforwards | 0 | 89
Other | 62 | 0
Total | 4,797 | 4,109
Valuation allowance | (245) | (227)
Deferred tax assets | 4,552 | 3,882
Deferred tax liabilities: |  |
Intangible assets | (1,949) | (2,101)
Right-of-use assets | (762) | (996)
Depreciation of property and equipment | (404) | (385)
Other | 0 | (120)
Deferred tax liabilities | (3,115) | (3,602)
Net deferred tax assets | $ 1,437 | $ 280

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