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Income Taxes - Schedule of Deferred Income Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Components of Deferred Tax Assets and Liabilities [Abstract]    
Net operating loss carryforwards $ 58,193 $ 49,070
Research and development credits 24,700 20,809
Lease liability 3,802 4,555
Intangible assets 3,708 3,804
Deferred revenue 49,919 60,285
Accrued liabilities 1,504 1,933
Stock-based compensation 8,066 7,480
Sec 174 capitalized research and development costs 19,709  
Other 31 29
Total gross deferred income tax assets 169,632 147,965
Less: valuation allowance (166,037) (143,355)
Deferred tax assets, net of valuation allowance 3,595 4,610
Fixed assets (43) (253)
Right-of-use assets (3,358) (4,069)
Prepaid expenses (194) (288)
Deferred tax liabilities (3,595) (4,610)
Net deferred income tax liabilities $ 0 $ 0