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Income Taxes - Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]    
Net operating loss carryforwards $ 18,274 $ 18,270
Stock-based compensation 3,160 869
Other accruals and reserves 2,863 3,670
Credits 13,634 12,653
Accrued warranty 939 976
Depreciation and amortization 2,226 2,191
Other 977 979
Operating lease liability 3,784 4,311
Deferred tax asset before valuation allowance 45,857 43,919
Valuation allowance (40,485) (38,321)
Deferred tax asset after valuation allowance 5,372 5,598
Deferred contract acquisition costs (990) (803)
Goodwill (124) (110)
Right of use asset (3,480) (4,042)
Net deferred tax asset $ 778 $ 643