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Income Taxes - Schedule of Deferred Income Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
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