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Income Taxes - Summary of Net Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets    
Net operating loss carryforwards $ 32,985 $ 31,826
Section 174 capitalized expense 6,812 0
Research and development credits 3,775 2,392
Lease liabilities 1,096 1,521
Accrual and reserves 739 590
Employee retention credits 271 284
Capitalized intangible costs 176 122
Stock-based compensation 201 129
Fixed assets 66 0
Other 3 3
Gross deferred tax assets 46,124 36,867
Less valuation allowance (45,343) (35,665)
Deferred tax assets, net of valuation allowance 781 1,202
Deferred tax liabilities    
Right-of-use assets (686) (962)
Fixed assets 0 (101)
Other (95) (139)
Gross deferred tax liabilities (781) (1,202)
Total net deferred tax assets $ 0 $ 0