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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets: |  |
Net operating loss carryforward | $ 96,242 | $ 85,182
Reserves and accruals | 3,152 | 3,943
Depreciation and amortization | 564 | 563
Capitalized R&D costs | 5,962 | 3,840
Tax credit carryforwards | 15,463 | 14,456
Stock-based compensation | 1,143 | 2,064
Right-of-use lease liabilities | 7,782 | 8,663
Total gross deferred tax assets | 130,308 | 118,711
Valuation allowance on deferred tax assets | (124,124) | (107,893)
Total deferred tax assets, net of valuation allowance | 6,184 | 10,818
Deferred tax liabilities: |  |
Fixed assets and intangibles | (54) | (3,913)
Right-of-use assets | (6,836) | (7,729)
Total deferred tax liabilities | (6,890) | (11,642)
Net deferred tax liability | (706) | (824)
Deferred tax liability per balance sheet | (841) | (1,055)
Less deferred tax assets included in other long-term assets | $ 135 | $ 231

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