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INCOME TAXES - Schedule of Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating loss carryforwards $ 82,179 $ 76,013
Research and development credits 2,923 3,008
Share-based compensation 2,538 2,273
Accruals 1,161 1,379
Interest expense 4,451 3,807
Lease Liability 782 929
Capitalized start-up costs   215
Capitalized R&D costs 3,790 2,165
Other temporary differences 1,032 1,000
Gross deferred tax assets 98,856 90,789
Less: Valuation allowance (94,473) (86,733)
Total deferred tax assets 4,383 4,056
Deferred tax liabilities:    
Capitalized software (1,038) (894)
Right-of-use asset (679) (816)
Prepaid commission (2,666) (2,346)
Gross deferred tax liabilities $ (4,383) $ (4,056)