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Income Taxes - Net deferred tax assets and liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Net operating loss carryforwards $ 50,008 $ 48,520
Charitable contribution carryforwards 393 443
Research and experimentation credits 2,420 2,420
Capitalized research and development costs 979  
Capitalized intangibles 356 387
Stock-based compensation 205 152
Accrued compensation 6 196
Lease liabilities 94 119
Total deferred tax assets 54,461 52,237
Valuation allowance (54,372) (52,118)
Deferred tax assets, net of valuation allowance 89 119
Deferred tax liabilities:    
Right-of-use asset (84) (107)
Depreciation and amortization (5) (12)
Net deferred tax liability $ 0 $ 0