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Income Taxes - Components of Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets:    
Net operating losses $ 52,832 $ 42,331
Property and equipment 555 303
R&D tax credit 5,209 3,830
Stock-based compensation 717 490
Capitalized R&D expenses 6,268 3,109
Inventory 909 511
Lease liability 1,003 1,461
Accruals and reserves 1,418 1,144
Total deferred tax assets 68,911 53,179
Valuation allowance (68,046) (52,005)
Net deferred tax assets 865 1,174
Deferred tax liabilities:    
Right-of-use assets (865) (1,174)
Total deferred tax liabilities $ (865) $ (1,174)