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Income taxes, Deferred tax assets and liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Deferred tax assets [Abstract] |  |
Deferred Tax Assets, Operating Loss Carryforwards, Domestic | $ 0 | $ 2,297
Foreign net operating losses | 733 | 676
State net operating losses | 84 | 149
Accrued severance | 165 | 0
Capitalized R&D expenses | 3,127 | 1,708
Inventory reserves | 896 | 648
Deferred revenue | 31 | 41
Warranty reserve | 24 | 17
Stock compensation expense | 790 | 769
Other accrued compensation | 404 | 222
R&D credit carryforward | 695 | 1,238
Other Assets | 360 | 0
Other liabilities and reserves | 0 | 463
Gross deferred tax assets | 7,309 | 8,228
Valuation allowance | (719) | (656)
Net deferred tax assets | 6,590 | 7,572
Deferred tax liabilities [Abstract] |  |
Depreciation and amortization | 237 | 196
Other | 49 | 49
Net deferred tax liabilities | 286 | 245
Total net deferred tax assets | $ 6,304 | $ 7,327

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