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Income Taxes - Schedule of Components of Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Deferred tax asset |  |
Federal NOLs | $ 42,166 | $ 38,326
State NOLs | 10,518 | 9,782
Deferred revenue | 14,551 | 14,021
Capitalized R&D | 9,857 | 7,973
Other deferred tax assets | 7,968 | 9,187
Total deferred tax assets | 85,060 | 79,289
Less: Valuation allowance | (71,490) | (61,683)
Total net deferred tax asset | 13,570 | 17,606
Deferred Tax Liabilities |  |
IRC 481(a) Adjustment | (714) | (324)
Deferred costs of revenue | (5,733) | (8,960)
Intangibles | (6,208) | (7,408)
Other deferred tax liabilities | (971) | (1,142)
Total deferred tax liabilities | (13,626) | (17,834)
Net deferred tax liability | $ (56) | $ (228)

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