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Income Taxes - Deferred tax assets and liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Net operating loss carryforwards $ 8,194 $ 13,238
Tax credit carryforwards 1,728 4,959
Equity-based compensation 307 545
Operating lease liabilities 178  
Capitalized research expenditures 5,687  
Deferred revenue 354  
Other 165 316
Deferred tax assets 16,613 19,058
Less: valuation allowance (16,435) (19,045)
Deferred tax assets after valuation allowance 178 13
Deferred tax liabilities    
Property and equipment, net (7) (13)
Right-of-use assets, operating leases (171)  
Deferred tax liabilities $ (178) $ (13)