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Income taxes, Deferred tax assets and liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
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