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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating loss carryforwards $ 41,864 $ 40,884
Research and development credits 13,069 12,088
Research and development expenditures, capitalized for tax 8,271 4,563
Fixed assets and inventory 151 159
Accruals and reserves 1,633 1,180
Interest expense carryforward 5,033 3,850
Operating lease liability 3,958 4,442
Other 1,718 1,521
Deferred tax assets, gross 75,697 68,687
Deferred tax liabilities:    
Operating lease right-of-use asset (3,436) (3,910)
Total deferred tax liabilities (3,436) (3,910)
Valuation allowance (72,261) (64,777)
Net deferred tax assets $ 0 $ 0