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Income Taxes - Schedule of Income Tax Provision Related to Continuing Operations (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Income tax benefit at federal statutory rate $ (58,013) $ (76,647) $ (109,889)
Research credits (1,192) (987) (4,727)
Change in valuation allowance 35,033 51,108 97,914
Expiration of net operating loss carryforwards 312 12,348 286
Stock-based compensation 8,919 15,778 6,627
Non-cash interest expense on liability related to sales of future royalties 5,320 6,071 9,936
Non-cash royalty revenue related to sales of future royalties (7,838) (7,112) (7,891)
Loss on revaluation of liability related to the sale of future royalties 0 0 4,940
Impairment of goodwill 16,065 0 0
Other 1,194 2,656 3,361
Provision (benefit) for income taxes $ (200) $ 3,215 $ 557