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Income Taxes - Schedule of Tax Effects of Temporary Differences and Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating loss carryforwards $ 60,753 $ 52,616
Deferred compensation 5,547 3,974
Research and development expenses 4,566 1,743
Research and development credits 2,357 1,918
Disallowed interest expense carryover 830 444
Operating lease liability 388 436
Provision for bad debt 310 398
Other 285 144
Gross deferred tax assets 75,036 61,673
Less: Valuation allowance (74,655) (61,251)
Deferred tax assets, net of valuation allowance 381 422
Operating lease right-of-use assets (381) (422)
Deferred tax liabilities: (381) (422)
Net deferred tax assets $ 0 $ 0