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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