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Income Taxes - Components of Deferred Tax Assets for Federal and State Income Taxes (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating loss carryforwards $ 83,983 $ 72,408
Research and development credits 22,669 16,824
Capitalized research and development 22,089 11,972
Deferred revenue 362 38
Accruals and reserves 2,883 1,914
Stock-based compensation 4,614 5,197
Operating lease liabilities 13,124 13,455
Other intangibles 209 267
Other 132 236
Total gross deferred tax assets 150,065 122,311
Less: valuation allowance (144,861) (114,483)
Total deferred tax assets 5,204 7,828
Deferred tax liabilities:    
Property and equipment (113) (108)
Operating lease right-of-use assets (5,084) (7,659)
Total deferred tax liabilities (5,197) (7,767)
Net deferred tax assets $ 7 $ 61