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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