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Income Taxes - Reconciliation of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets:      
Net operating loss carryforwards $ 29,789 $ 22,365  
Research and development tax credits 2,216 1,102  
Accruals, reserves and other 349 1,055  
Interest expense 2,236 1,953  
Indefinite lived assets 362 0  
Stock compensation 1,606 1,407  
Lease liability 1,374 0  
Capitalization of research and experimentation costs 2,047 0  
Total gross deferred tax assets 39,979 27,882  
Less: valuation allowance (38,567) (27,158) $ (20,596)
Deferred tax assets, net 1,412 724  
Deferred tax liabilities:      
Financing and acquisition-related liabilities 0 (335)  
Indefinite lived assets 0 (521)  
Right of use assets (1,206) 0  
Basis differences in fixed and intangible assets (206) (175)  
Deferred tax liabilities, net (1,412) (1,031)  
Net deferred tax liabilities $ 0 $ (307)