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INCOME TAXES - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Deferred tax asset:    
Capitalized technology license and patents $ 580 $ 560
Capitalized research expenditures 4,291 3,319
Accruals and reserves 4,178 4,130
Retirement plan 15,444 11,363
Deferred revenue 16,834 14,354
Tax credit carry forwards 4,589 3,997
Stock-based compensation 1,059 1,884
Other 1,914 1,682
Deferred Tax Assets, Gross 48,889 41,289
Valuation allowance (4,560) (3,368)
Deferred tax assets 44,329 37,921
Deferred tax liability:    
Accruals and reserves (6,634) (7,546)
Deferred tax liabilities (6,634) (7,546)
Net deferred tax assets $ 37,695 $ 30,375