Income Taxes (Tables)

12 Months Ended

Dec. 31, 2023

Income Tax Disclosure [Abstract]

Schedule of Income (Loss) Before Income Tax Expense (Benefit)

Income (loss) before income tax (benefit) expense consists of the following:

	Years ended December 31,
	2023		2022		2021
Domestic	$	(67,914)	$	(37,875)	$	(13,202)
Foreign	13,852		16,224		4,641
(Loss) Income before income taxes	$	(54,062)	$	(21,651)	$	(8,561)

Schedule of Components of Income Tax Expense (Benefit)

The components of the income tax expense (benefit) for income taxes are as follows:

	Years ended December 31,
	2023		2022		2021
Current:
Federal	$	(515)	$	(1,329)	$	211
State	179		162		114
Foreign	2,269		3,860		6,372
Current income tax expense	1,933		2,693		6,697
Deferred:
Federal	—		2		15,464
State	10		(32)		6,418
Foreign	572		2,442		2,824
Deferred income tax expense	582		2,412		24,706
Income tax expense (benefit)	$	2,515	$	5,105	$	31,403

Schedule of Reconciliation of Income Tax Expense (Benefit)

Reconciliations of the income tax expense at the U.S. federal statutory income tax rate compared to our actual income tax expense (benefit) are summarized below:

	Years ended December 31,
	2023		2022		2021
Tax expense at statutory rate	$	(11,353)	$	(4,548)	$	(1,798)
State income taxes, net of federal benefit	(3,030)		(864)		106
Foreign tax rate difference	390		314		303
Change in valuation allowance	9,150		2,534		26,475
Impact of intra-entity IP transfers	—		—		231
Prepaid tax on intercompany profit	2,874		2,966		3,390
Impact of permanent differences of non-deductible cost	555		2,221		1,658
Withholding/other foreign taxes	798		165		838
Research and development credit	(608)		(273)		(737)
Global intangible low-taxed income (“GILTI”)	3,011		3,238		763
Foreign currency gain/loss	415		(468)		594
Provision to return adjustments & deferred adjustments	(1,691)		(395)		313
Change in enacted tax rates	(196)		(883)		(306)
Equity based compensation	2,089		1,144		(245)
Uncertain tax positions	109		(46)		(185)
Other	2		—		3
Income tax expense (benefit)	$	2,515	$	5,105	$	31,403

Schedule of Components of Net Deferred Income Tax Assets and Liabilities

The components of our net deferred income tax assets and liabilities are as follows:

	As of December 31,
	2023		2022
Net deferred income tax asset - Non-current
Warranty cost	$	381	$	301
Inventory reserve	1,676		2,255
Unearned service revenue	8,294		8,930
Employee stock options	5,102		3,772
Tax credits	6,133		4,296
Loss carryforwards	20,965		19,197
Depreciation	773		729
Intangibles & goodwill	13,996		12,461
Lease liability	3,419		3,690
Total deferred tax assets	60,739		55,631
Valuation allowance	(46,515)		(37,295)
Total deferred tax assets net of valuation allowance	14,224		18,336
Net deferred income tax liability - Non-current
Other, net	(150)		(2,420)
Operating lease right-of-use asset	(2,433)		(3,441)
Total deferred tax liabilities	(2,583)		(5,861)
Net deferred tax assets	$	11,641	$	12,475

Schedule of Unrecognized Tax Benefits Roll Forward

A reconciliation of the beginning and ending amount of unrecognized tax benefits is as follows:

	Years ended December 31,
	2023		2022		2021
Balance at January 1	$	2,428	$	1,664	$	1,873
Additions based on tax positions related to the current year	723		1,924		53
Reductions for tax provisions of prior years	(177)		—		—
Lapse of statute of limitations	(451)		(1,160)		(262)
Balance at December 31	$	2,523	$	2,428	$	1,664

Schedule of Income Tax Examinations

The table below summarizes the open tax years and ongoing tax examinations in major jurisdictions as of December 31, 2023.

Jurisdiction	Open Years	Examination in Process
United States - Federal Income Tax	2020-2023	N/A
United States - various states	2019-2023	N/A
Germany	2013-2023	N/A
Switzerland	2021-2023	N/A
Singapore	2019-2023	N/A
India	2018-2023	2018-2022