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Income Taxes - Schedule of Deferred Income Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Income Tax Disclosure [Abstract] |  |
Capitalized research and development costs | $ 13,862 | $ 13,436
Net operating loss carryforward | 25,710 | 25,284
Property and equipment | 4,142 | 5,139
Accrued liabilities, reserves and other expenses | 3,877 | 4,350
Research and development credits | 6,430 | 6,342
Tax credits | 717 | 495
Stock based compensation | 1,834 | 2,283
Operating lease liabilities | 3,999 | 4,427
Other | 120 | 289
Gross deferred income tax assets | 60,691 | 62,045
Deferred income tax liabilities: |  |
Intangible assets | (2,269) | (2,128)
Right-of-use assets | (3,534) | (4,051)
Prepaid and other expenses | (162) | (35)
Gross deferred income tax liabilities | (5,965) | (6,214)
Net deferred income tax assets | 54,726 | 55,831
Valuation allowance | (2,328) | (24,178)
Total deferred income tax assets | $ 52,398 | $ 31,653

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