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Income taxes - Schedule of Component of Deferred Tax Assets and Liabilities (Detail) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating loss carryforwards $ 96,336 $ 113,228
Research credit carryforwards 34,940 33,444
Section 174 capitalization 22,556 15,308
Lease liability 8,868 9,530
Stock compensation 10,572 7,780
Accruals and reserves 15,808 9,089
Other 348 337
Total deferred tax assets 189,428 188,716
Less valuation allowance (180,387) (178,920)
Net deferred tax assets 9,041 9,796
Deferred tax liabilities:    
Fixed assets (2,667) (2,916)
Operating lease right-of-use assets (6,345) (6,785)
Other (29) (95)
Total deferred tax liabilities (9,041) (9,796)
Net deferred tax assets $ 0 $ 0