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Income Taxes - Reconciliation of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Deferred tax assets:      
Net operating loss carryforwards $ 22,365 $ 17,733  
Research and development tax credits 1,102 629  
Accruals, reserves and other 1,055 920  
Interest expense 1,953 1,306  
Basis differences in fixed and intangible assets 0 117  
Stock compensation 1,407 528  
Total gross deferred tax assets 27,882 21,233  
Less: valuation allowance (27,158) (20,596) $ (16,797)
Deferred tax assets, net 724 637  
Deferred tax liabilities:      
Financing and acquisition-related liabilities (335) (336)  
Indefinite lived assets (521) (459)  
Basis differences in fixed and intangible assets (175) 0  
Deferred tax liabilities, net (1,031) (795)  
Net deferred tax liabilities $ (307) $ (158)