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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Net operating loss carryforwards $ 40,884 $ 35,754
Research and development credits 12,088 11,121
Research and development expenditures, capitalized for tax 4,563 0
Fixed assets and inventory 159 120
Accruals and reserves 1,180 1,600
Interest expense carryforward 3,850 2,616
Operating lease liability 4,442 0
Other 1,521 781
Deferred tax assets, gross 68,687 51,992
Deferred tax liabilities:    
Operating lease right-of-use asset (3,910) 0
Total deferred tax liabilities (3,910) 0
Valuation allowance (64,777) (51,992)
Net deferred tax assets $ 0 $ 0