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Income Taxes - Components of Net Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Components of Deferred Tax Assets [Abstract]    
Net operating loss carryforwards $ 170,402 $ 131,423
Research and development credits 65,225 63,164
Depreciation and amortization 37,211 51,877
Stock-based compensation 30,370 32,561
Sales related accruals 38,474 23,864
Other accruals 42,480 19,717
Capitalized research and development 46,062 17,673
Gross deferred tax assets 430,224 340,279
Right-of-use asset (1,538) (1,903)
In-process research and development (6,403) (603)
Gross deferred tax liabilities (7,941) (2,506)
Total net deferred tax asset 422,283 337,773
Less valuation allowance (423,385) $ (337,773)
Net deferred tax liabilities $ (1,102)