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Income Taxes - Reconciliation of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Deferred tax assets: |  |  |
Net operating loss carryforwards | $ 32,479 | $ 29,789 |
Research and development tax credits | 2,353 | 2,216 |
Accruals, reserves and other | 1,119 | 349 |
Interest expense | 2,547 | 2,236 |
Indefinite lived assets | 300 | 362 |
Stock compensation | 1,391 | 1,606 |
Lease liability | 925 | 1,374 |
Capitalization of research and experimentation costs | 2,929 | 2,047 |
Total gross deferred tax assets | 44,043 | 39,979 |
Less: valuation allowance | (42,942) | (38,567) | $ (27,158)
Deferred tax assets, net | 1,101 | 1,412 |
Deferred tax liabilities: |  |  |
Right of use assets | (814) | (1,206) |
Basis differences in fixed and intangible assets | (287) | (206) |
Deferred tax liabilities | (1,101) | (1,412) |
Net deferred tax assets | $ 0 | $ 0 |

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