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Income Taxes - Reconciliation of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:      
Net operating loss carryforwards $ 35,348 $ 32,479  
Research and development tax credits 2,360 2,353  
Accruals, reserves and other 955 1,119  
Interest expense 2,785 2,547  
Indefinite lived assets 276 300  
Stock compensation 598 1,391  
Lease liability 681 925  
Capitalization of research and experimentation costs 2,942 2,929  
Total gross deferred tax assets 45,945 44,043  
Less: valuation allowance (45,237) (42,942) $ (38,567)
Deferred tax assets, net 708 1,101  
Deferred tax liabilities:      
Right of use assets (592) (814)  
Basis differences in fixed and intangible assets (116) (287)  
Deferred tax liabilities (708) (1,101)  
Net deferred tax assets $ 0 $ 0