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Income Taxes - Reconciliation of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Deferred tax assets:      
Net operating loss carryforwards $ 17,733 $ 15,287  
Research and development tax credits 629 419  
Accruals, reserves and other 1,448 590  
Interest expense 1,306 744  
Basis differences in fixed and intangible assets 117 225  
Total gross deferred tax assets 21,233 17,265  
Less: Valuation allowance (20,596) (16,797) $ (21,138)
Deferred tax assets, net 637 468  
Deferred tax liabilities:      
Financing and acquisition-related liabilities (336) (336)  
Indefinite lived assets (459) (396)  
Deferred tax liabilities, net (795) (732)  
Net deferred tax liabilities $ (158) $ (264)