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Income Taxes - Reconciliation of Provision for Income Taxes at Statutory Federal Income Tax Rate (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Tax expense at the statutory federal income tax rate $ 0.9 $ 2.9 $ 9.3
State income tax, net of federal income tax 0.6 1.3 0.3
Research and development tax credits (3.3) (4.1) (4.3)
FIN 48 impact 1.2 1.8 4.0
FIN 48 impact - liquidation of subsidiary 0.0 (0.7) 0.0
Change in foreign subsidiary net operating loss carryforward 0.0 4.4 (0.3)
Valuation allowance impact 6.0 (8.1) (1.0)
Changes in tax rates 0.2 0.7 0.3
Effects of Cares Act - 2018 NOL carryback 0.0 0.0 (9.5)
Share-based compensation 0.4 0.4 0.3
Foreign-derived intangible income deduction (0.9) 0.0 0.0
Other items (0.1) (0.7) (0.6)
Total income tax provision (benefit) $ 5.0 $ (2.1) $ (1.5)