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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 carryforward $ 313,834 $ 294,189
Research and development credits 60,245 55,789
Section 174 capitalized research and development 20,903  
Stock-based compensation 23,991 23,342
Lease liabilities 2,052 2,564
Other 3,693 3,953
Total gross deferred tax assets 424,718 379,837
Deferred Tax Liabilities, Net [Abstract]    
Right-of-use lease assets (1,914) (2,420)
Total gross deferred tax liabilities (1,914) (2,420)
Valuation allowance $ (422,804) $ (377,417)