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The components of deferred income tax assets and liabilities are as follows at December 31: (Details) - USD ($)
Dec. 31, 2023
Dec. 31, 2022
Deferred Tax Assets:    
Allowance for credit losses $ 20,632 $ 60,100
Capitalized R&D 1,420,263 864,969
Credit carryforwards 2,278,642 2,193,146
Inventory reserve 350,073 722,991
Accrued payroll 151,986 267,819
Loss contracts reserve 75,402 46,205
Restricted stock 94,809 92,677
Acquisition costs 74,136 77,762
Lease liability 1,139,836 1,469,551
Accrued legal 159,849
Disallowed interest expense 1,067,063 943,089
Net operating loss carryforward 16,356,545 17,513,901
Other 45,057 20,659
Deferred tax assets 23,074,444 24,432,718
Valuation allowance (569,143) (14,740,034)
Deferred Tax Liabilities:    
Prepaid expenses 143,126 207,980
Revenue recognition 1,224,106 1,341,105
Property and equipment 140,449 178,107
ROU asset 1,059,496 1,391,029
Deferred tax liabilities 2,567,177 3,118,221
Net deferred tax assets $ 19,938,124 $ 6,574,463