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Income taxes, Deferred tax assets and liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Deferred tax assets [Abstract] |  |
Deferred Tax Assets, Operating Loss Carryforwards, Domestic | $ 2,297 | $ 1,978
Foreign net operating losses | 676 | 624
State net operating losses | 149 | 0
Depreciation | 0 | 306
Capitalized R&D expenses | 1,708 | 0
Inventory reserves | 648 | 710
Deferred revenue | 41 | 24
Warranty reserve | 17 | 22
Stock compensation expense | 769 | 796
Other accrued compensation | 222 | 308
R&D credit carryforward | 1,238 | 901
Other liabilities and reserves | 463 | 250
Gross deferred tax assets | 8,228 | 5,919
Valuation allowance | (656) | (733)
Net deferred tax assets | 7,572 | 5,186
Deferred tax liabilities [Abstract] |  |
Depreciation | 196 | 0
Other | 49 | 43
Net deferred tax liabilities | 245 | 43
Total net deferred tax assets | $ 7,327 | $ 5,143

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