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Income Taxes - Schedule of Total Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:    
Federal net operating loss carryforward $ 22,875 $ 18,233
State net operating loss carryforward 6,693 5,269
R&D credit carryforwards 10,667 6,385
Capitalized start-up costs 219 242
Accruals and reserves 823 629
Deferred revenue 2,502 6,769
Stock based compensation 1,900 1,026
Lease liability 1,556 1,908
Capitalized R&E 14,995  
Total deferred tax asset 62,230 40,461
Deferred tax liability:    
Fixed assets (761) (648)
Right of use asset (1,436) (1,786)
Total deferred tax liability (2,197) (2,434)
Net deferred tax asset and liability before valuation allowance 60,033 38,027
Valuation Allowance $ (60,033) $ (38,027)