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Income Taxes Reconciliation of Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract]      
Income (benefit) taxes at statutory rates $ (25,370) $ (19,908) $ (30,872)
State income tax, net of federal benefit 0 (4) (4)
Foreign income taxes 0 2,170 0
Change in valuation allowance 25,457 20,898 (20,965)
Research and development tax credits (3,838) (3,170) (3,456)
Change in fair value of warrants 0 (76) (282)
Stock-based compensation 1,114 1,094 2,332
Uncertain tax positions 1,537 1,268 846
Expired NOLs and credits 616 2,176 454
Limited NOLs and credits (616) (2,176) (165)
Change in tax rates 12 0 50,019
Other 831 (102) 2,093
Income tax expense (benefit) $ (257) $ 2,170 $ 0