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Income Taxes - Summary of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets:    
Net operating loss carryforwards $ 45,231 $ 27,511
Stock compensation 1,587 748
Research and development credits 4,593 2,414
Accruals and reserves 1,033 830
Operating lease liabilities 3,175  
Total deferred tax assets 55,619 31,503
Valuation allowance (52,728) (31,458)
Deferred tax assets recognized 2,891 45
Deferred tax liabilities:    
Right-of-use assets (2,854)  
Fixed assets and depreciation (37) (45)
Total deferred tax liabilities $ (2,891) $ (45)