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Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | --- | --- | ---
Deferred tax assets |  |  |  |
Deferred revenue | $ 316 | $ 697 |  |
Accrued expenses | 7,995 | 5,321 |  |
Stock-based compensation | 9,293 | 7,631 |  |
Impairment on investment | 1,445 | 1,445 |  |
Net operating loss carryforwards | 15,117 | 17,206 |  |
Tax credit carryforwards | 12,839 | 12,112 |  |
Lease liabilities | 2,934 | 0 |  |
Interest expense carryforwards | 6,004 | 10,851 |  |
Capital loss carryforwards | 453 | 452 |  |
Capitalized research expenses | 6,674 | 0 |  |
Total deferred tax assets | 63,070 | 55,715 |  |
Valuation allowance | (14,644) | (14,170) | $ (12,950) | $ (7,816)
Net deferred tax assets | 48,426 | 41,545 |  |
Deferred tax liabilities |  |  |  |
Depreciation and amortization | (12,780) | (10,865) |  |
Right of use asset | (2,900) | 0 |  |
State taxes | (3,366) | (3,026) |  |
Net deferred tax liabilities | (19,046) | (13,891) |  |
Deferred Tax Assets, Net | $ 29,380 | $ 27,654 |  |

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