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If your filing status is married filing jointly, then you can each contribute $5,000 ($6,000 if age 50 or older) to a Roth IRA as long as your modified adjusted gross income (MAGI) is less than $166,000.
If your MAGI is just over $166,000 but less than $176,000 then you can still contribute to a Roth IRA but the amount you can contribute is reduced. For example, if your MAGI is $167,000 then you could contribute $4,500 instead of $5,000.
If you or your spouse are eligible to make elective deferrals to an employer sponsored retirement plan such as a 401(k) or 403(b) plan and are not deferring the maximum amounts permitted, then if you increase your salary deferrals you will in turn reduce your MAGI.