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Income Taxes - Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating losses $ 72,586 $ 69,915
Credits 16,412 14,806
Deferred revenues 176 1,123
Stock-based compensation 4,445 4,967
Reserves and accruals 2,774 2,487
Property and Equipment 457 0
Intangible assets 532 866
Capital losses 424 413
R&D Capitalization 26,821 16,502
Lease liability 3,608 9,586
Other assets 2,542 125
Total deferred tax assets: 130,777 120,790
Valuation allowance (127,835) (111,183)
Deferred tax liabilities:    
Right-of-use assets (2,958) (8,624)
Property and Equipment 0 (736)
Deferred Tax Liabilities, Other 0 (263)
Total deferred tax liabilities: (2,958) (9,623)
Net deferred tax liabilities $ (16) $ (16)