Sanjay Mehta
Vice President, Chief Financial Officer at Teradyne
Thank you, Greg. Good morning, everyone.
Today, I'll cover the financial summary of Q4 and the full year 2022, provide our Q1 outlook, and review our updated earnings model and capital allocation plan.
Now to Q4. Fourth quarter sales were $732 million, which was approximately $20 million above our mid guide with non-GAAP EPS of $0.92. Semi Test revenue of $481 million was strong in automotive and industrial, and SOC. System Test Group had revenue of $100 million, down 22% year-over-year, driven by lower sales in Storage Test serving a weaker HDD end market, slightly offset by higher defense and aerospace and production board test.
LitePoint revenue of $40 million was down 23% from a year ago due to lower cellular and Wi-Fi demand. Industrial Automation revenue of $110 million was down 2% from fourth quarter of last year, but up 7% in constant currency.
Non-GAAP gross margins were 57.4% above our guidance due to favorable product mix and some resiliency cost deferred until the first half of '23. Non-GAAP operating expenses were $252 million, about flat with third quarter opex. Non-GAAP operating profit rate was 23%.
We had one customer -- what -- we had one 10% customer in the quarter. The tax rate excluding discrete items for the quarter was 12.3% on a non-GAAP basis and lower than planned because of geographic mix. We repurchased $2 million of shares in the quarter.
Turning to the full-year results. We had revenue of approximately $3.2 billion. Qualcomm was our one 10% customer for the full year. Gross margin for the year was 59.2%, opex was $1 billion, and operating profit was 27.5%. Non-GAAP EPS was $4.25. We generated $450 million in free cash flow in 2022. We returned $822 million to our shareholders through share repurchases and dividends, and ended the year with $1 billion of cash and marketable securities.
Our tax rate for the full year, excluding discrete items, was 16.3% on a GAAP and non-GAAP basis. Semi Test revenue for the year was $2.1 billion with SOC revenue contributing $1.7 billion, and Memory $373 million.
Our SOC sales contracted in 2022. But I'll note a bright spot for us in automotive where year-on-year shipments increased over 60%. In Memory, our sales declined about 6%, and were roughly evenly split between Flash and DRAM. System Test Group had revenue of $469 million, which was flat to 2021. Strength in defense and aerospace and production board test was offset by decline in our storage business.
In Wireless Test, revenue of $202 million in 2022 was lower year-on-year, with declines in cellular and connectivity, partially offset by strength in UWB.
Now to Industrial Automation. IA revenue was $404 million, with UR contributing $326 million and MiR $77 million, which includes [Phonetic]. Notably, MiR grew 26% for the year in constant currency, 19% in dollars. A large portion of IA sales are outside the US and sold in local currencies. For the full year, 40% of IA sales were in Europe, 35% in the US, 11% in China, and the remainder in the rest of the world.
From a profitability perspective in IA, the Group was slightly above breakeven on a non-GAAP operating basis for the full year.
Now to our outlook for Q1. In October, we expected Q1 revenue of approximately $640 million, which was projected to be down 10% from our Q4 midpoint. Since then, three declines have occurred: First, approximately $20 million of revenue was pulled in from Q1. Second, we expect approximately $20 million of supply constraints in Q1, which has not been included in our guidance range. Third, approximately $20 million of memory related to capacity additions has shifted to later in the year.
Including other offsetting factors, Q1 sales are expected to be between $550 million and $630 million, with non-GAAP EPS in a range of $0.28 to $0.52 on a 165 million diluted shares. First-quarter guidance excludes the amortization of acquired intangibles.
First quarter gross margins are estimated at 55% to 56%, down from Q4 due to lower volume and higher spending on accelerating our manufacturing and service resiliency. Opex is expected to run at 39% to 44% of first-quarter sales. The non-GAAP operating profit rate at the midpoint of our first quarter guidance is 14%.
A few points to assist you in the modeling 2023. First, the gross margin profile. In 2023, we expect gross margins will be below our model in the first half driven by lower volume and additional spending on accelerating our manufacturing and service resiliency.
We expect second-half gross margins to return to our 59% to 60% model range. Regarding opex for the full year, we expect full year 2023 opex to be roughly flat compared with 2022. IA profitability is planned to be in the range of 5% to 15% profit level on higher volume. Our GAAP and non-GAAP tax rate is forecasted to be 16.75% in 2023.
Turning to capital allocation. Our strategy remains consistent as we take a balanced approach and prioritize free cash flow to maintain a minimum cash level to run the business and to have reserves set aside in the event of a significant downturn. Excess free cash flow will be prioritized for M&A, share buybacks, and dividends. Prior share buyback authorization was replaced with a new $2 billion authorization. We expect up to $500 million of repurchases in 2023.
Moving to our earnings model. We expect Test and IA growth will drive 2026 company revenue to approximately $5 billion and non-GAAP EPS to $8.75 at the midpoint of the updated model. Gross margin is estimated at 59% to 60%, opex as a percent of sales will decline to 26% to 28%, yielding a non-GAAP operating margin of 31% to 34%.
Some context on the model. Over the last six years, Teradyne has grown revenue at a compounded 10% rate and our non-GAAP EPS at a 19% rate. Our model midpoint -- at our model midpoint, we expect 2016 to 2026 extend the trend line for revenue and non-GAAP EPS CAGRs will be or to be 11% and 19% respectively, roughly in line with the historical rate and reflecting an increasing contribution of revenue from Industrial Automation.
We've included a backup slide in the deck that illustrates these trends. In prior calls and Greg's comments today, we have outlined the key drivers for the test portfolio, including device technology trends, complexity, and unit growth, which we anticipate will drive ATE growth over the four-year horizon. Our Test revenues are expected to grow at a CAGR of 8% to 13% from 2022 to 2026.
For IA, we believe this market is still 5% penetrated -- sub 5% penetrated. Greg has outlined the drivers over the midterm for this market, including labor shortages, new products and applications, and channel transformation.
Our IA revenues are expected to grow 20% to 30% from 2022 to 2026.
Summing up. After six years of growth, the SOC test market slowed in the second half of 2022, and our financial model flexed down as designed. Despite the smaller Test market, we delivered 27.5% non-GAAP operating profit, generated over $400 million in free cash flow, returned over $800 million to shareholders, reduced our share count by 4%, and ended the year with $1 billion in cash. Going forward, our updated model builds on the proven foundation of historical growth in Test and IA, and includes new drivers of future growth.
While there is uncertainty in the short run, we are confident of the growth opportunities in the markets we serve and our team executing our strategy to capture that growth.
With that, I will turn the call back over to Andy. Andy?