Biggest changeYear Ended Year Ended December 31, Change December 31, Change (dollars in thousands) 2022 2021 $ % 2021 2020 $ % Revenue $ 488,398 100.0 % $ 488,098 100.0 % $ 300 0.1 $ 488,098 100.0 % $ 434,395 100.0 % $ 53,703 12.4 Cost of revenue 272,933 55.9 265,407 54.4 7,526 2.8 265,407 54.4 216,568 49.9 48,839 22.6 Gross profit 215,465 44.1 222,691 45.6 (7,226 ) (3.2 ) 222,691 45.6 217,827 50.1 4,864 2.2 Operating expenses: Marketing and sales 82,752 17.0 82,175 16.8 577 0.7 82,175 16.8 69,309 16.0 12,866 18.6 Research and development 38,222 7.8 44,241 9.1 (6,019 ) (13.6 ) 44,241 9.1 36,940 8.5 7,301 19.8 General and administrative 67,544 13.8 68,436 14.0 (892 ) (1.3 ) 68,436 14.0 51,742 11.9 16,694 32.3 Goodwill impairment 118,008 24.2 - - 118,008 * - - - - - - Closure of Japan business 6,922 1.4 - - 6,922 * - - - - - - Changes in fair value of contingent consideration - - (12,503 ) (2.6 ) 12,503 * (12,503 ) (2.6 ) - - (12,503 ) * Total operating expenses 313,448 64.2 182,349 37.3 131,099 71.9 182,349 37.3 157,991 36.4 24,358 15.4 (Loss) income from operations (97,983 ) (20.1 ) 40,342 8.3 (138,325 ) (342.9 ) 40,342 8.3 59,836 13.8 (19,494 ) (32.6 ) Other income (expense), net 106 - (158 ) - 264 (167.1 ) (158 ) - 3,109 0.7 (3,267 ) (105.1 ) (Loss) income before income taxes (97,877 ) (20.1 ) 40,184 8.2 (138,061 ) (343.6 ) 40,184 8.2 62,945 14.5 (22,761 ) (36.2 ) Provision for income taxes 5,585 1.1 6,812 1.4 (1,227 ) (18.0 ) 6,812 1.4 12,078 2.8 (5,266 ) (43.6 ) Net (loss) income $ (103,462 ) (21.2 %) $ 33,372 6.8 % $ (136,834 ) (410.0 %) $ 33,372 6.8 % $ 50,867 11.7 % $ (17,495 ) (34.4 %) *Percentage change not meaningful Stock-based compensation expense included in the statements of comprehensive income data above is as follows: Year Ended December 31, (dollars in thousands) 2022 2021 2020 Stock options and grants $ 16,103 $ 17,553 $ 13,327 Employee stock purchase plan 1,442 1,542 1,346 Total stock-based compensation expense $ 17,545 $ 19,095 $ 14,673 Cost of revenue $ 2,172 $ 2,595 $ 2,451 Operating expenses: Marketing and sales 3,295 3,736 3,121 Research and development 2,189 2,833 2,440 General and administrative 9,889 9,931 6,661 Total stock-based compensation expense $ 17,545 $ 19,095 $ 14,673 Comparison of Years Ended December 31, 2022 and 2021 Revenue Revenue by reportable segment and the related changes for 2022 and 2021 is summarized as follows: Year Ended December 31, 2022 2021 Change (dollars in thousands) $ % of Total Revenue $ % of Total Revenue $ % Revenue United States $ 387,399 79.3 % $ 384,458 78.8 % $ 2,941 0.8 % Europe 92,770 19.0 90,399 18.5 2,371 2.6 Japan 8,229 1.7 13,241 2.7 (5,012 ) (37.9 ) Total revenue $ 488,398 100.0 % $ 488,098 100.0 % $ 300 0.1 % Our revenue increased $0.3 million, or 0.1%, for 2022 compared with 2021.
Biggest changeYear Ended December 31, Change Year Ended December 31, Change (dollars in thousands) 2023 2022 $ % 2022 2021 $ % Revenue $ 503,877 100.0 % $ 488,398 100.0 % $ 15,479 3.2 $ 488,398 100.0 % $ 488,098 100.0 % $ 300 0.1 Cost of revenue 281,884 55.9 272,933 55.9 8,951 3.3 272,933 55.9 265,407 54.4 7,526 2.8 Gross profit 221,993 44.1 215,465 44.1 6,528 3.0 215,465 44.1 222,691 45.6 (7,226) (3.2) Operating expenses: Marketing and sales 87,688 17.4 82,752 17.0 4,936 6.0 82,752 17.0 82,175 16.8 577 0.7 Research and development 40,135 8.0 38,222 7.8 1,913 5.0 38,222 7.8 44,241 9.1 (6,019) (13.6) General and administrative 65,788 13.1 67,544 13.8 (1,756) (2.6) 67,544 13.8 68,436 14.0 (892) (1.3) Goodwill impairment - - 118,008 24.2 (118,008) * 118,008 24.2 — — 118,008 * Closure of Japan business 215 - 6,922 1.4 (6,707) * 6,922 1.4 — — 6,922 * Changes in fair value of contingent consideration — — — — — * — — (12,503) (2.6) 12,503 * Total operating expenses 193,826 38.5 313,448 64.2 (119,622) (38.2) 313,448 64.2 182,349 37.3 131,099 71.9 Income (loss) from operations 28,167 5.6 (97,983) (20.1) 126,150 128.7 (97,983) (20.1) 40,342 8.3 (138,325) (342.9) Other (expense) income, net (215) (0.1) 106 - (321) (302.8) 106 - (158) — 264 (167.1) Income (loss) before income taxes 27,952 5.5 (97,877) (20.1) 125,829 128.6 (97,877) (20.1) 40,184 8.2 (138,061) (343.6) Provision for income taxes 10,732 2.1 5,585 1.1 5,147 92.2 5,585 1.1 6,812 1.4 (1,227) (18.0) Net income (loss) $ 17,220 3.4 % $ (103,462) (21.2 %) $ 120,682 116.6 % $ (103,462) (21.2 %) $ 33,372 6.8 % $ (136,834) (410.0 %) * Percentage change not meaningful Stock-based compensation expense included in the statements of comprehensive income data above is as follows: Year Ended December 31, (in thousands) 2023 2022 2021 Stock options and other $ 14,550 $ 16,103 $ 17,553 Employee stock purchase plan 1,439 1,442 1,542 Total stock-based compensation expense $ 15,989 $ 17,545 $ 19,095 Cost of revenue $ 1,840 $ 2,172 $ 2,595 Operating expenses: Marketing and sales 3,426 3,295 3,736 Research and development 2,556 2,189 2,833 General and administrative 8,167 9,889 9,931 Total stock-based compensation expense $ 15,989 $ 17,545 $ 19,095 34 Table of Contents Comparison of Years Ended December 31, 2023 and 2022 Revenue Revenue by reportable segment and the related changes for 2023 and 2022 is summarized as follows: Year Ended December 31, 2023 2022 Change (dollars in thousands) $ % of Total Revenue $ % of Total Revenue $ % Revenue United States $ 396,821 78.8 % $ 387,399 79.3 % $ 9,422 2.4 % Europe 107,056 21.2 92,770 19.0 14,286 15.4 Japan — — 8,229 1.7 (8,229) (100.0) Total revenue $ 503,877 100.0 % $ 488,398 100.0 % $ 15,479 3.2 % Our revenue increased $15.5 million, or 3.2%, for 2023 compared with 2022.
Cash Flows from Financing Activities Cash used in financing activities was $27.9 million for the year ended December 31, 2022, consisting of $29.7 million in repurchases of common stock, $1.7 million in shares withheld for tax obligations associated with equity transactions, and $0.5 million for repayments of finance lease obligations, which were partially offset by $4.0 million in proceeds from issuance of common stock from equity plans.
Cash used in financing activities was $27.9 million for the year ended December 31, 2022, consisting of $29.7 million in repurchases of common stock, $1.7 million in shares withheld for tax obligations associated with equity transactions, and $0.5 million for repayments of finance lease obligations, which were partially offset by $4.0 million in proceeds from issuance of common stock from equity plans.
The decrease in our cash was primarily due to cash used in investing activities for net purchases of, and proceeds from sales of, marketable securities of $25.5 million, purchases of property, equipment and other capital assets of $17.6 million, and cash used in financing activities for repurchases of common stock of $29.7 million, which were partially offset by cash generated through operations of $62.1 million.
The decrease in our cash was primarily due to cash used in investing activities for net purchases of, and proceeds of, marketable securities of $25.5 million, purchases of property, equipment and other capital assets of $17.6 million, and cash used in financing activities for repurchases of common stock of $29.7 million, which were partially offset by cash generated through operations of $62.1 million.
Our addition of Hubs in 2021 provides a complementary opportunity to add revenue growth through the use of premium manufacturing partners, without the significant investments required by our legacy business model. We define gross profit as our revenue less our cost of revenue, and we define gross margin as gross profit expressed as a percentage of revenue.
Our addition of Hubs in 2021 provides a complementary opportunity to add revenue growth through the use of premium manufacturing partners, without the significant investments required by our internal manufacturing business model. We define gross profit as our revenue less our cost of revenue, and we define gross margin as gross profit expressed as a percentage of revenue.
“Financial Statements and Supplementary Data” in this Annual Report on Form 10-K for additional information about these critical accounting policies and estimates, as well as a description of our other accounting policies and estimates. 46 Table of Contents Revenue Recognition We recognize revenue for our internal and outsourced manufacturing operations in accordance with ASC 606, Revenue from Contracts with Customers .
“Financial Statements and Supplementary Data” in this Annual Report on Form 10-K for additional information about these critical accounting policies and estimates, as well as a description of our other accounting policies and estimates. Revenue Recognition We recognize revenue for our internal and outsourced manufacturing operations in accordance with ASC 606, Revenue from Contracts with Customers .
Recently adopted accounting pronouncements We did not recently adopt any accounting pronouncements that had a material impact on our Consolidated Financial Statements. There are no pending accounting pronouncements that are expected to have a material impact on our Consolidated Financial Statements. 49 Table of Contents
Recently adopted accounting pronouncements We did not recently adopt any accounting pronouncements that had a material impact on our Consolidated Financial Statements. There are no pending accounting pronouncements that are expected to have a material impact on our Consolidated Financial Statements. 42 Table of Contents
For a more complete discussion of the risks facing our business, see Part I, Item 1A. “Risk Factors” of this Annual Report on Form 10-K. 38 Table of Contents Key Financial Measures and Trends Revenue Our operations are comprised of two geographic operating segments in the United States and Europe.
For a more complete discussion of the risks facing our business, see Part I, Item 1A. “Risk Factors” of this Annual Report on Form 10-K. Key Financial Measures and Trends Revenue Our operations are comprised of two geographic operating segments in the United States and Europe.
An impairment loss is recognized when the carrying amount of an asset exceeds the estimated undiscounted cash flows generated by the asset. As of December 31, 2022, no impairment charges for intangible assets have been recognized.
An impairment loss is recognized when the carrying amount of an asset exceeds the estimated undiscounted cash flows generated by the asset. As of December 31, 2023, no impairment charges for intangible assets have been recognized.
On an ongoing basis, we evaluate our estimates, including those related to revenue recognition, goodwill, capitalized software costs, other intangible assets, stock-based compensation, and income taxes. We base our estimates of the carrying value of certain assets and liabilities on historical experience and on various other assumptions that we believe to be reasonable under the circumstances.
On an ongoing basis, we evaluate our estimates, including those related to revenue recognition, goodwill, other intangible assets, stock-based compensation, and income taxes. We base our estimates of the carrying value of certain assets and liabilities on historical experience and on various other assumptions that we believe to be reasonable under the circumstances.
Our historical and current efforts to increase revenue have been directed at gaining new customers and selling to our existing customer base by increasing marketing and selling activities, including: • expanding the breadth and scope of our products by adding more sizes and materials to our offerings; • the introduction of our 3D Printing product line through our acquisition of FineLine in 2014; • expanding 3D printing to Europe through our acquisition of Alphaform in October 2015; • the introduction of our Sheet Metal product line through our acquisition of RAPID in 2017; • continuously improving the usability of our product lines such as our web-centric applications; and • providing customers with on-demand access to a global network of premium manufacturing partners through our acquisition of Hubs in January 2021.
Our revenue is generated from a diverse customer base and our historical and current efforts to increase revenue have been directed at gaining new customers and selling to our existing customer base by increasing marketing and selling activities, including: • expanding the breadth and scope of our products by adding more sizes and materials to our offerings; • the introduction of our 3D Printing product line through our acquisition of FineLine in 2014; • expanding 3D printing to Europe through our acquisition of Alphaform in October 2015; • the introduction of our Sheet Metal product line through our acquisition of RAPID in 2017; • continuously improving the usability of our product lines such as our web-centric applications; and 31 Table of Contents • providing customers with on-demand access to a global network of premium manufacturing partners through our acquisition of Hubs in January 2021.
If different estimates and assumptions had been used, our common stock valuations could be significantly different and related stock-based compensation expense may be materially impacted. The Black-Scholes option pricing model requires inputs such as the risk-free interest rate, expected term, expected volatility and expected dividend yield.
If different estimates and assumptions had been used, our common stock valuations could be significantly different and related stock-based compensation expense may be materially impacted. 40 Table of Contents The Black-Scholes option pricing model requires inputs such as the risk-free interest rate, expected term, expected volatility and expected dividend yield.
Overall, our effective tax rate for 2022 and beyond may differ from historical effective tax rates due to increases in losses in foreign operations that are not eligible for tax benefits on account of valuation allowances, as well as any future tax law changes that may impact the effective tax rate. 40 Table of Contents Results of Operations The following table summarizes our results of operations and the related changes for the periods indicated.
Overall, our effective tax rate for 2023 and beyond may differ from historical effective tax rates due to changes in losses in foreign operations that are not eligible for tax benefits on account of valuation allowances, as well as any future tax law changes that may impact the effective tax rate. 33 Table of Contents Results of Operations The following table summarizes our results of operations and the related changes for the periods indicated.
The majority of our injection molding contracts have multiple performance obligations including one obligation to produce the mold and a second obligation to produce parts. For injection molding contracts with multiple performance obligations, we allocate revenue to each performance obligation based on its relative standalone selling price. We generally determine standalone selling price based on the price charged to customers.
The majority of our injection molding contracts have multiple performance obligations including one obligation to produce the mold and a second obligation to produce parts. For injection molding contracts with multiple performance obligations, we allocate revenue to each performance obligation based on its relative standalone selling price.
On May 27, 2022, the Company's board of directors approved a plan for the closure of the Company's manufacturing facility in Japan and announced an intention to cease operations in the region. Revenue is derived from our Injection Molding, CNC Machining, 3D Printing and Sheet Metal product lines.
On May 27, 2022, the Company's board of directors approved a plan for the closure of the Company's manufacturing facility in Japan and announced an intention to cease operations in the region. The Company dissolved its Japan operations in December 2023. Revenue is derived from our Injection Molding, CNC Machining, 3D Printing and Sheet Metal product lines.
The fair value of each offering period was estimated using the Black-Scholes option pricing model with the following assumptions: Year Ended December 31, 2022 2021 2020 Risk-free interest rate 0.17 - 4.60% 0.06 - 0.17% 0.12 - 0.17% Expected life (months) 6.00 6.00 6.00 Expected volatility 47.05 - 67.84% 53.44 - 65.53% 50.85 - 59.99% Expected dividend yield 0% 0% 0% There are significant differences among option valuation models, and this may result in a lack of comparability with other companies that use different models, methods and assumptions.
The fair value of each offering period was estimated using the Black-Scholes option pricing model with the following assumptions: Year Ended December 31, 2023 2022 2021 Risk-free interest rate 4.60 - 5.16% 0.17 - 4.60% 0.06 - 0.17% Expected life (months) 6.00 6.00 6.00 Expected volatility 47.38 - 67.84% 47.05 - 67.84% 53.44 - 65.53% Expected dividend yield 0% 0% 0% There are significant differences among option valuation models, and this may result in a lack of comparability with other companies that use different models, methods and assumptions.
Our future capital requirements will depend on many factors, including the following: • the revenue growth in Injection Molding, CNC Machining, 3D Printing and Sheet Metal product lines; • costs of operations, including costs relating to expansion and growth; • the emergence of competing or complementary technological developments; • the costs of filing, prosecuting, defending and enforcing any patent claims and other intellectual product rights, or participating in litigation-related activities; and • the acquisition of businesses, products and technologies, although we currently have no commitments or agreements relating to any of these types of transactions.
Our future capital requirements will depend on many factors, including the following: • the revenue growth in Injection Molding, CNC Machining, 3D Printing and Sheet Metal product lines; • costs of operations, including costs relating to expansion and growth; • the emergence of competing or complementary technological developments; • the costs of filing, prosecuting, defending and enforcing any patent claims and other intellectual product rights, or participating in litigation-related activities; and • the acquisition of businesses, products and technologies, although we currently have no commitments or agreements relating to any of these types of transactions. 38 Table of Contents Our recent annual capital expenditures have varied between 4% and 8% of annual revenue.
An impairment charge for goodwill was recognized for our Europe reporting unit in the fourth quarter of 2022, as it was determined the estimated fair value of the reporting unit, including goodwill, was less than its carrying amount. Closure of Japan business.
Goodwill is tested for impairment annually as of the first day of the fourth quarter. An impairment charge for goodwill was recognized for our Europe reporting unit in the fourth quarter of 2022, as it was determined the estimated fair value of the reporting unit, including goodwill, was less than its carrying amount. Closure of Japan business.
While our business may be positively affected by these trends, our results may also be favorably or unfavorably impacted by other trends that affect product developer and engineer orders for custom parts in low volumes, including, among others, economic conditions, changes in product developer and engineer preferences or needs, developments in our industry and among our competitors, and developments in our customers' industries.
While our business may be positively affected by these trends, our results may also be favorably or unfavorably impacted by other trends that affect customer orders for custom parts, including, among others, economic conditions, changes in customer preferences or needs, developments in our industry and among our competitors, and developments in our customers' industries.
As of December 31, 2022, the amount of cash and cash equivalents held by foreign subsidiaries was $19.6 million. Our intent is to continue to permanently reinvest these funds outside the U.S. and our current plans do not demonstrate a need to repatriate them to fund our domestic operations.
As of December 31, 2023, the amount of cash and cash equivalents held by foreign subsidiaries was $18.1 million. Our intent is to continue to reinvest these funds outside the U.S. and our current plans do not demonstrate a need to repatriate them to fund our domestic operations.
We recognize stock-based compensation expense on a straight-line basis over the requisite service period. We recorded stock-based compensation expense relating to stock options, restricted stock awards, performance stock units and our ESPP of $17.5 million, $19.1 million and $14.7 million during the years ended December 31, 2022, 2021 and 2020, respectively.
We recognize stock-based compensation expense on a straight-line basis over the requisite service period. We recorded stock-based compensation expense relating to stock options, restricted stock awards, performance stock units and our ESPP of $16.0 million, $17.5 million and $19.1 million during the years ended December 31, 2023, 2022 and 2021, 41 Table of Contents respectively.
We have never paid and do not anticipate paying any cash dividends in the foreseeable future and, therefore, we use an expected dividend yield of zero in the option pricing model.
We have never paid and do not anticipate paying any cash dividends in the foreseeable future and, therefore, we use an expected dividend yield of zero in the option pricing model. We account for forfeitures as they occur.
We account for forfeitures as they occur. 47 Table of Contents The fair value of each new employee option awarded was estimated on the date of grant for the periods below using the Black-Scholes option pricing model with the following assumptions: Year Ended December 31, 2022 2021 2020 Risk-free interest rate 1.94 - 3.40% 0.80 - 1.12% 0.50 - 1.47% Expected life (years) 6.25 6.25 6.25 Expected volatility 45.95 - 46.03% 45.28 - 45.53% 42.40 - 43.83% Expected dividend yield 0% 0% 0% Weighted average grant date fair value $23.11 $128.14 $45.32 Our 2012 Employee Stock Purchase Plan (ESPP) allows eligible employees to purchase a variable number of shares of our common stock during each offering period at a discount through payroll deductions of up to 15% of their eligible compensation, subject to plan limitations.
The fair value of each new employee option awarded was estimated on the date of grant for the periods below using the Black-Scholes option pricing model with the following assumptions: Year Ended December 31, 2023 2022 2021 Risk-free interest rate 3.55 - 4.55% 1.94 - 3.40% 0.80 - 1.12% Expected life (years) 2 - 6.25 6.25 6.25 Expected volatility 49.23 -55.92% 45.95 - 46.03% 45.28 - 45.53% Expected dividend yield 0% 0% 0% Weighted average grant date fair value $16.36 $23.11 $128.14 Our 2012 Employee Stock Purchase Plan (ESPP) allows eligible employees to purchase a variable number of shares of our common stock during each offering period at a discount through payroll deductions of up to 15% of their eligible compensation, subject to plan limitations.
We believe we continue to be well positioned to benefit from these trends, given our proprietary technology that enables us to automate and integrate the majority of activities involved in procuring custom parts. The COVID-19 pandemic has also impacted the manufacturing environment.
We believe we continue to be well positioned to benefit from these trends, given our proprietary technology that enables us to automate and integrate the majority of activities involved in procuring custom parts.
Our gross profit and gross margin are affected by many factors, including our mix of revenue by product line, pricing, sales volume, manufacturing costs, the costs associated with increasing production capacity, the mix between domestic and foreign revenue sources, the mix between revenue produced in our internal manufacturing operations and outsourced to our external manufacturing partners, and foreign exchange rates. 39 Table of Contents Operating Expenses Operating expenses consist of marketing and sales, research and development and general and administrative expenses.
Our gross profit and gross margin are affected by many factors, including our mix of revenue by product line, pricing, sales volume, manufacturing costs, the costs associated with increasing production capacity, the mix between domestic and foreign revenue sources, the mix between revenue produced in our internal manufacturing operations and outsourced to our external manufacturing partners, and foreign exchange rates.
Our revenue outside of the United States accounted for approximately 21%, 21% and 20% of our consolidated revenue in the years ended December 31, 2022, 2021 and 2020, respectively. We intend to continue to expand our international sales efforts and believe opportunities exist to serve the needs of product developers and engineers in select new geographic regions.
Our revenue outside of the United States accounted for approximately 21% of our consolidated revenue in each of the years ended December 31, 2023 and 2022. We intend to continue to expand our international sales efforts and believe opportunities exist to serve the needs of customers in select new geographic regions.
Including interest and penalties, we have established a liability for uncertain tax positions of $4.4 million as of December 31, 2022.
Including interest and penalties, we have established a liability for uncertain tax positions of $5.0 million as of December 31, 2023.
Cash used in financing activities was $22.2 million for the year ended December 31, 2021, consisting of $23.3 million in repurchases of common stock, $4.2 million in shares withheld for tax obligations associated with equity transactions, and $0.6 million for repayments of finance lease obligations, which were partially offset by $5.9 million in proceeds from issuance of common stock from equity plans.
Cash Flows from Financing Activities Cash used in financing activities was $41.9 million for the year ended December 31, 2023, consisting of $44.0 million in repurchases of common stock, $1.4 million in shares withheld for tax obligations associated with equity transactions, and $0.3 million for repayments of finance lease obligations, which were partially offset by $3.8 million in proceeds from issuance of common stock from equity plans.
Cash Flows from Operating Activities Cash flow from operating activities of $62.1 million during 2022 primarily consisted of net loss of $103.4 million, adjusted for certain non-cash items, including depreciation and amortization of $39.4 million, stock-based compensation expense of $17.6 million, loss on goodwill impairment of $118.0 million and impairments related to closure of Japan business of $2.8 million, which were partially offset by changes in deferred taxes of $9.5 million and changes in operating assets and liabilities and other items totaling $2.8 million.
The cash flow from operating activities during 2023 compared to 2022 increased $11.2 million primarily due to changes in operating assets and liabilities of $7.2 million, increases in deferred taxes of $1.8 million, increases in interest on finance lease obligations of $1.1 million and increases in net income of $120.7 million, which were partially offset by decreases in stock-based compensation of $1.6 million and loss on impairment of goodwill of $118.0 million. 37 Table of Contents Cash flow from operating activities of $62.1 million during 2022 primarily consisted of net loss of $103.5 million, adjusted for certain non-cash items, including depreciation and amortization of $39.4 million and stock-based compensation expense of $17.5 million, loss on goodwill impairment of $118.0 million and impairments related to closure of Japan business of $2.8 million, which were partially offset by changes in deferred taxes of $9.5 million and changes in operating asset and liabilities and other items totaling $2.8 million.
Our contingent consideration liability is related to our acquisition of Hubs in 2021 and is evaluated quarterly for changes in fair value. Other Income, Net Other income, net primarily consists of foreign currency-related gains and losses and interest income on cash balances and investments. Our foreign currency-related gains and losses will vary depending upon movements in underlying exchange rates.
Our contingent consideration liability is related to our acquisition of Hubs in 2021, was evaluated quarterly for changes in fair value, and was written off in 2021. Other Income, Net Other income, net primarily consists of foreign currency-related gains and losses and interest income on cash balances and investments.
As of December 31, 2022, we had $3.9 million of unrecognized stock-based compensation costs related to unvested stock options that are expected to be recognized over a weighted average period of 2.6 years. We issued options to purchase 118,434, 57,901 and 60,065 shares of our common stock in 2022, 2021 and 2020, respectively.
As of December 31, 2023, we had $3.8 million of unrecognized stock-based compensation costs related to unvested stock options that are expected to be recognized over a weighted average period of 2.5 years. We issued options to purchase 186,804, 118,434 and 57,901 shares of our common stock during the years ended December 31, 2023, 2022 and 2021, respectively.
By reportable segment, revenue in the United States increased $2.9 million, or 0.8%, for 2022 compared with 2021. Revenue in Europe increased $2.4 million, or 2.6%, for 2022 compared with 2021. Revenue in Japan decreased $5.0 million, or 37.9%, for 2022 compared with 2021.
By reportable segment, revenue in the United States increased $9.4 million, or 2.4%, for 2023 compared with 2022. Revenue in Europe increased $14.3 million, or 15.4%, for 2023 compared with 2022. Revenue in Japan decreased $8.2 million, or 100.0%, for 2023 compared with 2022.
Goodwill impairment. A goodwill impairment charge of $118.0 million was recognized in the fourth quarter of 2022, as it was determined the estimated fair value of our Europe reporting unit, including goodwill, was less than its carrying amount. Closure of Japan business. Our decision to close our Japan business resulted in $6.9 million in operating expenses during 2022.
We had no goodwill impairment charges recorded during 2023. A goodwill impairment charge of $118.0 million was recognized in the fourth quarter of 2022, as it was determined the estimated fair value of our Europe reporting unit, including goodwill, was less than its carrying amount. Closure of Japan business.
Other (Expense) Income, Net and Provision for Income Taxes Other (Expense) Income, Net. We recognized other income, net of $0.1 million in 2022, an increase of $0.3 million compared to other expense, net of $0.2 million for 2021.
Other (Expense) Income, Net and Provision for Income Taxes Other (Expense) Income, Net. We recognized other expense, net of $0.2 million in 2023, a decrease of $0.3 million compared to other income, n et of $0.1 million for 2022.
We believe our customers are facing increased pressure to shorten product life-cycles, to embed products with connectivity driven by the internet of things technology, and to deliver products that are personalized and customized to unique customer specifications.
For example, we believe that many of our target customers are facing three mega trends, which are disrupting long-term product growth models. We believe our customers are facing increased pressure to shorten product life-cycles, to embed products with connectivity driven by the "internet of things" technology, and to deliver products that are personalized and customized to unique customer specifications.
Other income, net for 2022 primarily consisted of $1.0 million in interest income, which was partially offset by a $0.9 million loss on foreign currency and other losses. Other income, net for 2021 primarily consisted of a $0.9 million loss on foreign currency, which is partially offset by a $0.2 million in interest income and $0.5 million in other income.
Other income, net for 2022 primarily consisted of $1.0 million in interest income, which was partially offset by a $0.9 million loss on foreign currency and other losses. Provision for Income Taxes. Our income tax provision increased by $5.1 million for 2023 compared to 2022.
Goodwill We recognize goodwill in accordance with ASC 350, Intangibles—Goodwill and Other . Goodwill is the excess of cost of an acquired entity over the amounts assigned to assets acquired and liabilities assumed in a business combination.
We generally determine standalone selling price based on the price charged to customers. 39 Table of Contents Goodwill We recognize goodwill in accordance with ASC 350, Intangibles—Goodwill and Other . Goodwill is the excess of cost of an acquired entity over the amounts assigned to assets acquired and liabilities assumed in a business combination.
We establish a valuation allowance for any portion of our deferred tax assets that we believe will not be recognized. 48 Table of Contents ASC 740 also clarifies the accounting for uncertainty in income taxes recognized in an enterprise’s financial statements by defining a criterion that an individual tax position must meet for any part of the benefit of that position to be recognized in an enterprise’s financial statements.
ASC 740 also clarifies the accounting for uncertainty in income taxes recognized in an enterprise’s financial statements by defining a criterion that an individual tax position must meet for any part of the benefit of that position to be recognized in an enterprise’s financial statements.
As of December 31, 2022, we had $21.1 million of unrecognized stock-based compensation costs related to non-vested restricted stock, which is expected to be recognized over a weighted average period of 2.4 years. We issued restricted stock awards of 315,432, 205,996 and 108,179 shares of our common stock in 2022, 2021 and 2020, respectively.
As of December 31, 2023, we had $18.5 million of unrecognized stock-based compensation costs related to unvested restricted stock, which is expected to be recognized over a weighted average period of 2.5 years. We issued restricted stock awards of 410,682, 315,432 and 205,996 shares of our common stock during the years ended December 31, 2023, 2022 and 2021, respectively.
Financing Arrangements We had no financing arrangements as of December 31, 2022 and 2021. Inflation We experience normal inflation and changing prices, primarily on our production materials and labor. In 2022, 2021 and 2020 wage inflation contributed to our lower gross margin.
Inflation We experience normal inflation and changing prices, primarily on our production materials and labor. In the years ended December 31, 2023, 2022 and 2021 wage inflation contributed to our lower gross margin.
As a result of the factors described above, many of our customers tend to return to Proto Labs to meet their ongoing needs, with approximately 94%, 93% and 93% of our revenue in 2022, 2021 and 2020, respectively, derived from existing customers. We have established our operations in the United States, Europe and Japan.
As a result of the factors described above, many of our customers tend to return to Proto Labs to meet their ongoing needs. We have established our operations in the United States and Europe. Previously we had established operations in Japan.
As of December 31, 2022, we had $2.5 million of unrecognized stock-based compensation costs related to non-vested performance stock, which is expected to be recognized over a weighted average period of 2.0 years. We issued performance stock awards of 35,697, 15,078 and 19,956 shares of our common stock in 2022, 2021 and 2020, respectively.
As of December 31, 2023, we had $4.1 million of unrecognized stock-based compensation costs related to unvested performance stock, which is expected to be recognized over a weighted average period of 1.8 years. We issued performance stock awards of 71,295, 35,697 and 15,078 shares of our common stock during the years ended December 31, 2023, 2022 and 2021, respectively.
The decrease in our cash was primarily due to cash used in investing activities for our acquisition of Hubs of $127.4 million, purchases of property, equipment and other capital assets of $34.2 million, and cash used in financing activities for repurchases of common stock of $23.3 million, which were partially offset by net proceeds from investments in marketable securities of $67.0 million and cash generated through operations of $55.2 million.
The increase in our cash was primarily due to cash generated through operations of $73.3 million, which was partially offset by cash used in investing activities of $4.6 million, consisting primarily of net purchases of property, equipment and other capital assets of $27.4 million partly offset by proceeds from the maturity of marketable securities of $23.9 million, and cash used in financing activities of $41.9 million, primarily for repurchases of common stock of $44.0 million.
For example, the pandemic accelerated the digitization of manufacturing as companies pivoted to a work-from-home and socially-distanced manufacturing plant environment. As a result, the adoption of e-commerce was accelerated, which allows opportunity for us to provide valuable solutions to manufacturers looking to build resiliency in their supply chains through fast, on-demand manufacturers.
As a result, the adoption of e-commerce manufacturing has accelerated, which allows opportunity for us to provide valuable solutions to customers looking to build resiliency in their supply chains through fast, on-demand manufacturers.
An impairment charge for goodwill is recognized only when the estimated fair value of a reporting unit, including goodwill, is less than its carrying amount. The quantitative impairment test requires judgment, including the identification of reporting units, the assignment of assets, liabilities and goodwill to reporting units, and the determination of fair value of each reporting unit.
The quantitative impairment test requires judgment, including the identification of reporting units, the assignment of assets, liabilities and goodwill to reporting units, and the determination of fair value of each reporting unit. The impairment test requires the comparison of the fair value of each reporting unit with its carrying amount, including goodwill.
Other intangible assets include software technology, customer relationships and other intangible assets acquired from independent parties. We used a multi-period excess earnings method under the income approach to measure the software platform when acquired through an acquisition.
We used a multi-period excess earnings method under the income approach to measure the software platform when acquired through an acquisition.
Cash used in investing activities was $94.7 million for the year ended December 31, 2021, consisting of $127.4 million in cash used for acquisitions, net of cash acquired and $34.2 million for the purchases of property, equipment and other capital assets, which were partially offset by $67.0 million of net proceeds from investments in marketable securities.
Cash Flows from Investing Activities Cash used in investing activities was $4.6 million for the year ended December 31, 2023, consisting of $27.4 million for the net purchases of property, equipment and other capital assets, $1.0 in other investing activities, which were partially offset by $23.9 million in proceeds from maturities of marketable securities.
Income from operations for Europe decreased $131.1 million for 2022 compared with 2021, which was primarily driven by a $118.0 goodwill impairment charge. Loss from operations included in Corporate Unallocated and Japan decreased $2.4 million for 2022 compared with 2021. The loss from operations is primarily driven by the Europe goodwill impairment charge.
By reportable segment, income from operations for the United States increased $1.5 million. Income from operations for Europe increased $117.9 million for 2023 compared with 2022, which was primarily driven by a $118.0 goodwill impairment charge in 2022. Loss from operations included in Corporate Unallocated and Japan decreased $6.8 million for 2023 compared with 2022.
Our general and administrative expense decreased $0.9 million, or 1.3%, for 2022 compared to 2021 primarily due to a decrease of $2.4 million in administrative costs, a decrease of $2.2 million in professional service costs, a decrease of $0.8 million in personnel and related costs, and a decrease of $0.3 million in stock-based compensation cost, which were partially offset by an increase in research and development costs of $4.8 million provided by Hubs.
Our general and administrative expense decreased $1.8 million, or 2.6%, fo r 2023 compared to 2022 primarily due to a decrease of $1.7 million in stock-based compensation and a decrease of $0.7 million in personnel and related costs, which were partially offset by an increase in professional services and other administrative costs of $0.6 million. Goodwill impairment.
During 2022, we served 56,333 unique product developers and engineers who purchased our products through our web-based customer interface, an increase of 1.8% over the same period in 2021. During 2021, we served 55,330 unique product developers and engineers who purchased our products through our web-based customer interface, an increase of 26.3% over the same period in 2020.
During 2023, we served 53,464 unique customer contacts who purchased our products through our web-based customer interface, a decrease of 5.1% over the same period in 2022. During 2022, we served 56,333 unique customer contacts who purchased our products through our web-based customer interface, an increase of 1.8% over the same period in 2021.
Our business strategy is to continue to be a leading online and technology-enabled manufacturer of quick-turn, on-demand injection-molded, CNC-machined, 3D-printed and sheet metal custom parts for prototyping and low-volume production. In order to achieve our goals, we anticipate continued substantial investments in technology and personnel, resulting in increased operating expenses in the future. Marketing and sales.
Operating Expenses Operating expenses consist of marketing and sales, research and development and general and administrative expenses. Personnel-related costs are the most significant component in each of these categories. Our business strategy is to continue to be a leading online and technology-enabled manufacturer of quick-turn, on-demand injection-molded, CNC-machined, 3D-printed and sheet metal custom parts for prototyping and low-volume production.
We also continually seek to enhance other aspects of our technology and manufacturing processes, including our interactive web-based and automated user interface and quoting system. We intend to continue to invest significantly to enhance our technology and manufacturing processes and expand the range of our existing capabilities with the aim of meeting the needs of a broader set of customers.
We intend to continue to invest significantly to enhance our technology and 30 Table of Contents manufacturing processes and expand the range of our existing capabilities with the aim of meeting the needs of a broader set of customers.
Comparison of Years Ended December 31, 2021 and 2020 For a comparison of our results of operations for fiscal years ended December 31, 2021 and December 31, 2020, see "Part II, Item 7 Management's Discussion and Analysis of Financial Condition and Results of Operations" of our Annual Report on Form 10-K for the fiscal year ended December 31, 2021, filed with the SEC on February 18, 2022. 43 Table of Contents Liquidity and Capital Resources Cash Flows The following table summarizes our cash flows for the years ended December 31, 2022, 2021 and 2020: Year Ended December 31, (dollars in thousands) 2022 2021 2020 Net cash provided by operating activities $ 62,079 $ 55,242 $ 106,969 Net cash used in investing activities (43,092 ) (94,664 ) (95,473 ) Net cash used in financing activities (27,922 ) (22,198 ) (10,726 ) Effect of exchange rates on cash and cash equivalents (436 ) (54 ) 1,608 Net (decrease) increase in cash and cash equivalents $ (9,371 ) $ (61,674 ) $ 2,378 Sources of Liquidity We finance our operations and capital expenditures through cash flow from operations.
Liquidity and Capital Resources Cash Flows The following table summarizes our cash flows for the years ended December 31, 2023, 2022 and 2021: Year Ended December 31, (dollars in thousands) 2023 2022 2021 Net cash provided by operating activities $ 73,274 $ 62,079 $ 55,242 Net cash used in investing activities (4,552) (43,092) (94,664) Net cash used in financing activities (41,858) (27,922) (22,198) Effect of exchange rates on cash and cash equivalents 368 (436) (54) Net (decrease) increase in cash and cash equivalents $ 27,232 $ (9,371) $ (61,674) Sources of Liquidity We finance our operations and capital expenditures through cash flow from operations.
International revenue was negatively impacted by $11.6 million during 2022 compared to the same period in 2021 as a result of foreign currency movements, primarily the weakening of the British Pound and Euro relative to the United States Dollar. 41 Table of Contents During 2022, we served 56,333 unique product developers and engineers, an increase of 1.8% over 2021.
International revenue w as negatively impacted by $0.2 million during 2023 compared to the same period in 2022 as a result of foreign currency movements, primarily the weakening of the British Pound and Euro relative to the United States Dollar. During 2023, we served 53,464 unique customer contacts, a decrease of 5.1% over 2022.
Gross profit decreased from $222.7 million in 2021 to $215.5 million in 2022. Gross margin decreased from 45.6% of revenue in 2021 to 44.1% of revenue in 2022 primarily due to a decrease in Injection Molding revenue. Operating Expenses Marketing and Sales. Marketing and sales expense increased $0.6 million, or 0.7%, for 2022 compared to 2021.
Gross Profit and Gross Margin. Gross profit increased from $215.5 million in 2022 to $222.0 million in 2023. Gross margin was 44.1% of revenue in 2023, unchanged compared to 2022 . Operating Expenses Marketing and Sales.
Revenue by product line and the related changes for 2022 and 2021 is summarized as follows: Year Ended December 31, 2022 2021 Change (dollars in thousands) $ % of Total Revenue $ % of Total Revenue $ % Revenue Injection Molding $ 200,578 41.1 % $ 226,117 46.3 % $ (25,539 ) (11.3 %) CNC Machining 188,372 38.5 166,811 34.2 21,561 12.9 3D Printing 78,988 16.2 72,721 14.9 6,267 8.6 Sheet Metal 19,498 4.0 20,397 4.2 (899 ) (4.4 ) Other Revenue 962 0.2 2,052 0.4 (1,090 ) (53.1 ) Total revenue $ 488,398 100.0 % $ 488,098 100.0 % $ 300 0.1 % By product line, our revenue increase was driven by a 12.9% increase in CNC Machining revenue and an 8.6% increase in 3D Printing revenue, which was partially offset by an 11.3% decrease in Injection Molding revenue, a 4.4% decrease in Sheet Metal revenue, and a 53.1% decrease in Other Revenue, in each case for 2022 compared with 2021.
Revenue by product line and the related changes for 2023 and 2022 is summarized as follows: Year Ended December 31, 2023 2022 Change (dollars in thousands) $ % of Total Revenue $ % of Total Revenue $ % Revenue Injection Molding $ 203,941 40.5 % $ 200,578 41.1 % $ 3,363 1.7 % CNC Machining 198,222 39.3 188,372 38.5 9,850 5.2 3D Printing 84,291 16.7 78,988 16.2 5,303 6.7 Sheet Metal 16,540 3.3 19,498 4.0 (2,958) (15.2) Other Revenue 883 0.2 962 0.2 (79) (8.2) Total revenue $ 503,877 100.0 % $ 488,398 100.0 % $ 15,479 3.2 % By product line, our revenue increase was driven by a 5.2% increase in CNC Machining revenue, a 6.7% increase in 3D Printing revenue and a 1.7% increase in Injection Molding revenue, which was partially offset by a 15.2% decrease in Sheet Metal revenue, and a 8.2% decrease in Other Revenue, in each case for 2023 compared with 2022. 35 Table of Contents Cost of Revenue, Gross Profit and Gross Margin Cost of Revenue.
Cost of Revenue, Gross Profit and Gross Margin Cost of Revenue. Cost of revenue increased $7.5 million, or 2.8%, for 2022 compared to 2021, which was greater than the rate of revenue increase of 0.1% for 2022 compared to 2021.
Cost of revenue increased $9.0 million, or 3.3%, for 2023 compared to 2022, which was less than the rate of revenue increase of 3.2% for 2023 compared to 2022.
Our interest income will vary each reporting period depending on our average cash balances during the period, composition of our marketable security portfolio and the current level of interest rates. Provision for Income Taxes Provision for income taxes is comprised of federal, state, local and foreign taxes based on pre-tax income.
Our foreign currency-related gains and losses will vary depending upon movements in underlying exchange rates. Our interest income will vary each reporting period depending on our average cash balances during the period, composition of our marketable security portfolio and the current level of interest rates.
We target our products at the millions of product developers and engineers who use three-dimensional computer-aided design (3D CAD) software to design products across a diverse range of end-markets. We have experienced significant growth since our inception.
We target our products at the millions of product developers and engineers who use three-dimensional computer-aided design (3D CAD) software to design products across a diverse range of end-markets, to the procurement and supply chain professionals seeking to easily and efficiently source custom parts on-demand, and to a wide variety of customers seeking to purchase low-volume custom parts.
We believe future growth capital expenditures, excluding any expenditures for buildings and maintenance capital we might purchase for our operations, are likely to vary between approximately 8% and 12% of annual revenue. 45 Table of Contents Contractual Obligations As of December 31, 2022, our contractual obligations are $21.4 million related to current and long-term operating and finance lease liabilities.
We believe future growth capital expenditures, excluding any expenditures for buildings and maintenance capital we might purchase for our operations, are likely to vary between approximately 4% and 7% of annual revenue.
Our actual results may differ materially from those anticipated in these forward- looking statements as a result of various factors, including those set forth under “Risk Factors” and elsewhere in this Annual Report on Form 10-K. Overview We are one of the world’s largest and fastest digital manufacturers of custom prototypes and on-demand production parts.
Our actual results may differ materially from those anticipated in these forward- looking statements as a result of various factors, including those set forth under “Risk Factors” and elsewhere in this Annual Report on Form 10-K. This Management's Discussion and Analysis (MD&A) generally discusses fiscal years 2023 and 2022 items and year-to-year comparisons between 2023 and 2022.
Cash flow from operating activities of $55.2 million during 2021 primarily consisted of net income of $33.4 million, adjusted for certain non-cash items, including depreciation and amortization of $40.5 million and stock-based compensation expense of $19.1 million, which were partially offset by a decrease in the fair value of contingent consideration of $13.3 million and changes in operating assets and liabilities and other items totaling $24.5 million.
Cash Flows from Operating Activities Cash flow from operating activities of $73.3 million during 2023 primarily consisted of net income of $17.2 million, adjusted for certain non-cash items, including depreciation and amortization of $37.5 million, stock-based compensation expense of $16.0 million, foreign currency translation losses of $3.9 million, interest on finance lease obligations of $1.1 million and changes in operating assets and liabilities and other items totaling $5.2 million, which were partially offset by changes in deferred taxes of $7.7 million.
Discount rate assumptions are based on an assessment of the risk inherent in the future cash flows of the respective reporting unit and market conditions. Given the inherent uncertainty in determining the assumptions underlying a DCF analysis, actual results may differ from those used in our valuations.
Given the inherent uncertainty in determining the assumptions underlying a DCF analysis, actual results may differ from those used in our valuations.
We believe the United States and Europe are two of the largest geographic markets where product developers and engineers are located. On May 27, 2022, the Company's board of directors approved a plan for the closure of the Company's manufacturing facility in Japan and announced an intention to cease operations in the region. We entered the European market in 2005.
On May 27, 2022, the Company's board of directors approved a plan for the closure of the Company's manufacturing facility in Japan and announced an intention to cease operations in the region. The Company dissolved its Japan operations in December 2023.
Determining fair value requires us to make judgments about appropriate discount rates, perpetual growth rates and the amount and timing of expected future cash flows. The cash flows employed in the DCF analysis for each reporting unit are based on the reporting unit's budget, long-term business plan and recent operating performance.
The cash flows employed in the DCF analysis for each reporting unit are based on the reporting unit's budget, long-term business plan and recent operating performance. Discount rate assumptions are based on an assessment of the risk inherent in the future cash flows of the respective reporting unit and market conditions.
We manufacture prototypes and low-volume production parts for companies worldwide that are under increasing pressure to bring their finished products to market faster than their competition. We utilize injection molding, computer numerical control (CNC) machining, 3D printing and sheet metal fabrication to manufacture custom parts for our customers.
Overview We are one of the world’s largest, fastest, and most comprehensive digital manufacturers of custom parts. We manufacture prototypes and low-volume production parts for companies worldwide that are under increasing pressure to bring their finished products to market faster than their competition.
The impairment test requires the comparison of the fair value of each reporting unit with its carrying amount, including goodwill. In performing the impairment test, we determined the fair value of its reporting units through the income approach by using discounted cash flow (DCF) analyses.
In performing the impairment test, we determined the fair value of our reporting units through the income approach by using discounted cash flow (DCF) analyses. Determining fair value requires us to make judgments about appropriate discount rates, perpetual growth rates and the amount and timing of expected future cash flows.
Marketing and sales expense consists primarily of employee compensation, benefits, commissions, stock-based compensation, marketing programs such as electronic, print and pay-per-click advertising, trade shows and other related overhead, which includes an allocation of information technology expense including amortization of PL 2.0 software assets.
In order to achieve our goals, we anticipate continued substantial investments in technology and personnel, resulting in increased operating expenses in the future. Marketing and sales. Marketing and sales expense consists primarily of employee compensation, benefits, commissions, stock-based compensation, marketing programs such as electronic, print and pay-per-click advertising, trade shows and other related overhead.
Operating expenses included $2.3 million of employee severance, $2.4 million related to the write-down of fixed assets, $0.9 million of facility-related charges, $0.6 million in goodwill impairment charges, $0.7 million in other closure related charges. We had no expenses related to the closure of our Japan business in 2021. Changes in fair value of contingent consideration.
During 2022 we recognized $2.3 million of employee severance, $2.4 million related to the write-down of fixed assets, $0.9 million of facility-related charges, $0.6 million in goodwill impairment charges and $0.7 million in other closure related charges. Income (Loss) from Operations Income from operations increased $126.2 million, or 128.6%, for 2023 compared with 2022.
Provision for Income Taxes. Our income tax provision decreased by $1.2 million for 2022 compared to 2021. The decrease in the provision is primarily due to lower taxable income and the lower effective tax rate.
The increase in the provision is primarily due to higher taxable income and the higher effective tax rate.
Significant assumptions used in the DCF analysis included forecasted revenue and related revenue growth rate, gross margins rate, operating expenses as a percentage of revenue rate and weighted-average cost of capital. As a result of the analyses, a $118.0 million impairment related to the Europe reporting unit was identified, which represents a write-off of all Europe goodwill.
As a result of the fiscal year 2022 analysis, which used the quantitative assessment, a $118.0 million impairment related to the Europe reporting unit was identified, which represents a write-off of all Europe goodwill, and recorded during the year ended December 31, 2022.
Our research and development expense decreased $6.0 million, or 13.6%, for 2022 compared to 2021 primarily due to legacy personnel and related cost decreases of $6.6 million driven by personnel and contractor resources dedicated to the launch of our PL 2.0 system in 2021 and decreases in other operating costs of $0.7 million, which were partially offset by a $0.3 million increase in professional services.
Our researc h and development expense increased $1.9 million, or 5.0%, for 2023 compared to 2022 primarily due to increases in personnel and related costs of $2.8 million, partially offset by decreases in other operating costs of $0.5 million and professional services of $0.4 million for 2023 compared with 2022. General and Administrative.
We expect general and administrative expense to increase in the future as we continue to grow and expand as a global organization. Goodwill impairment. Goodwill is tested for impairment annually as of the first day of the fourth quarter.
General and administrative expense consists primarily of employee compensation, benefits, stock-based compensation, professional service fees related to accounting, tax and legal and other related 32 Table of Contents overhead. We expect general and administrative expense to increase in the future as we continue to grow and expand as a global organization. Goodwill impairment.
We had cash and cash equivalents of $65.9 million as of December 31, 2021, a decrease of $61.7 million from December 31, 2020.
We had cash and cash equivalents of $83.8 million as of December 31, 2023, an increase of $27.2 million from December 31, 2022.
The effective tax rate decreased by 22.7% for the year ended December 31, 2022 when compared to 2021 primarily due to the tax rate impact of the goodwill impairment and a benefit from the decrease in the tax liability for uncertain tax positions. These benefits were partially offset by an increase in the valuation allowances on losses from foreign operations.
The effective tax rate increased by 44.1% for the year ended December 31, 2023 when compared to 2022 primarily due to the tax rate impact of the goodwill impairment recorded during the year ended December 31, 2022 as well as the overall change from a loss to income position in 2023.
The cash flow from operating activities during 2021 compared to 2020 decreased $51.7 million primarily due to decreases in net income of $17.5 million, increases in accounts receivable of $20.1 million driven by timing of cash receipts, a decrease in the fair value of contingent consideration of $13.3 million, decreases in deferred taxes of $7.2 million, and decreases of $6.0 million in other items, which were partially offset by increases in depreciation and amortization of $7.9 million and increases in stock-based compensation of $4.4 million. 44 Table of Contents Cash Flows from Investing Activities Cash used in investing activities was $43.1 million for the year ended December 31, 2022, consisting of $17.6 million for the net purchases of property, equipment and other capital assets and $25.5 million of net purchases of marketable securities.
Cash used in investing activities was $43.1 million for the year ended December 31, 2022, consisting of $17.6 million for the net purchases of property, equipment and other capital assets and $25.5 million of net purchases of marketable securities.
Our effective tax rate of (5.7)% for 2022 decreased 22.7% compared to 17.0% for the same period in 2021 primarily due to the tax rate impact of the goodwill impairment and a benefit from the decrease in the tax liability for uncertain tax positions.
Our effective tax rate of 38.4% for 2023 increased 44.1% compared to (5.7)% for the same period in 2022 primarily due to the tax rate impact of the goodwill impairment recorded during the year ended December 31, 2022 as well as the overall change from a loss to income position in 2023. 36 Table of Contents Comparison of Years Ended December 31, 2022 and 2021 For a comparison of our results of operations for fiscal years ended December 31, 2022 and December 31, 2021, see Part II, Item 7.
In 2021, we acquired Hubs to provide customers with on-demand access to a global network of premium manufacturing partners. In 2022, we launched the first iteration of our integrated offer in Europe, which allows us to offer CNC manufacturing for eligible parts through the combination of our internal digital manufacturing and our digital network of manufacturing partners.
The integrated offer allows us to offer CNC manufacturing for eligible parts through the combination of our internal digital manufacturing and our digital network of manufacturing partners. We also continually seek to enhance other aspects of our technology and manufacturing processes, including our interactive web-based and automated user interface and quoting system.
We have grown our total revenue from $445.6 million in 2018 to $488.4 million in 2022. During this period, our operating expenses increased from $149.8 million in 2018 to $313.4 million in 2022, which includes a $118.0 million goodwill impairment charge and $6.9 million in costs related to closure of our Japan business.
We have grown our total revenue from $488.1 million in the year December 31, 2021 to $503.9 million in the year ended December 31, 2023. During this period, our operating expenses increased from $182.3 million in the year ended December 31, 2021 to $193.8 million in the year ended December 31, 2023.
Our proprietary technology eliminates most of the time-consuming and expensive skilled labor conventionally required to quote and manufacture parts. In January 2021, we acquired Hubs, a leading online manufacturing platform based in Amsterdam, Netherlands, that provides customers with on-demand access to a global network of premium manufacturing partners.
We utilize injection molding, computer numerical control (CNC) machining, 3D printing and sheet metal fabrication to manufacture custom parts for our customers. Our proprietary technology eliminates most of the time-consuming and expensive skilled labor conventionally required to quote and manufacture parts.
The $0.1 million decrease in cost of revenue in our legacy business was driven by personnel and related cost decreases of $5.3 million, which were partially offset by an increase in raw material and product costs of $4.8 million and an increase in equipment and facility related costs of $0.4 million. Gross Profit and Gross Margin.
The increase in the cost of revenue of $9.0 million was primarily driven by higher revenue volumes in the Protolabs Network, partly offset by reductions in contract labor, headcount and overtime leading to lower personnel and related costs of $8.0 million and lower raw material and product costs of $3.9 million in our digital manufacturing factory offering for 2023 compared with 2022 .