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Income Taxes - Components of Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating losses $ 80,273 $ 65,197
Property and equipment 203 847
R&D tax credit 9,224 7,346
Stock-based compensation 3,829 2,082
Capitalized R&D expenses 20,644 12,971
Inventory 2,708 2,279
Lease liability 6,824 6,404
Accruals and reserves 2,713 2,758
Total deferred tax assets 126,418 99,884
Valuation allowance (121,461) (94,056)
Net deferred tax assets 4,957 5,828
Deferred tax liabilities:    
Right-of-use assets (4,957) (5,828)
Total deferred tax liabilities $ (4,957) $ (5,828)