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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Line Items] |  |  |  |
Uncertain tax benefits | $ 1,754,000 | $ 924,000 | $ 393,000 | $ 271,000
Interest or penalties recognized for the period |  | $ 0 | $ 0 |
Federal |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Net operating loss carryforwards | 340,200,000 |  |  |
Research credit carryforwards | $ 4,400,000 |  |  |
Tax credit carry forwards expiration year | 2039 |  |  |
Research and experimental expenses amortized period | 5 years |  |  |
Federal | Research | Maximum |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Research credit carryforward | $ 0 |  |  |
State |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Net operating loss carryforwards | $ 453,100,000 |  |  |
Operating loss carry forwards expiration year | 2034 |  |  |
Foreign |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Research and experimental expenses amortized period | 15 years |  |  |
California |  |  |  |
Income Tax Disclosure [Line Items] |  |  |  |
Research credit carryforwards | $ 2,800,000 |  |  |

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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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