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Income Taxes (Deferred Tax Assets, Liabilities and Valuation Allowance) (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Research and experimentation credit and deduction carryforwards $ 60,041 $ 62,771
Net operating loss carryforwards 44,424 45,985
Depreciation and amortization 5,568 5,664
Reserves and accrued expenses 1,000 992
Deferred stock-based compensation 821 994
Foreign tax credit carryforwards 163 208
Other 1,201 1,451
Total gross deferred tax assets 113,218 118,065
Deferred tax liabilities:    
Foreign earnings (212) 0
Other (620) (812)
Total gross deferred tax liabilities (832) (812)
Less valuation allowance (111,941) (116,372)
Net deferred tax assets $ 445 $ 881