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Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets |  |
Net operating loss carryforwards | $ 40,911 | $ 38,144
Capitalized research and development costs | 17,868 | 11,018
Deferred expenses | 2,526 | 1,478
Lease liability | 2,303 | 2,785
Stock compensation | 1,197 | 3,049
Depreciation and amortization | 470 | 311
Credits | 0 | 142
Total deferred tax assets | 65,275 | 56,927
Deferred tax liabilities |  |
Capitalized service costs | (1,787) | (1,162)
Right-of-use asset | (2,093) | (2,564)
Subsidiary outside basis difference | (110) | 0
Total deferred tax liabilities | (3,990) | (3,726)
Net deferred tax asset before valuation allowance | 61,285 | 53,201
Less: valuation allowance | (61,430) | (53,216)
Net deferred tax asset (liability) | $ (145) | $ (15)

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