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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets    
Research and development credit carryforwards $ 11,502 $ 10,957
Fixed assets 581 0
Accrued liabilities 3,020 3,677
Deferred revenues 3,381 5,766
Operating lease liabilities 7,722 10,667
Intangible assets 3,549 3,465
Stock-based compensation 4,263 4,691
Capitalized research and development 47,793 30,234
Other 2,999 2,195
Gross deferred tax assets 84,810 71,652
Valuation allowance (12,375) (12,476)
Total deferred tax assets 72,435 59,176
Deferred tax liabilities    
Fixed assets 0 (1,745)
Operating leases - right of use asset (5,999) (8,359)
Deferred commissions (3,675) (3,660)
Total deferred tax liabilities (9,674) (13,764)
Net deferred tax assets $ 62,761 $ 45,412