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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Deferred Tax Assets:    
Net operating loss carryforwards $ 53,128 $ 50,360
Research and development tax credits 2,860 3,040
Property and equipment 279 370
Stock-based compensation 865  
Accruals and reserves 1,406 286
Total 58,538 54,056
Valuation allowance (56,083) (51,135)
Total deferred tax assets after valuation allowance 2,455 2,921
Deferred Tax Liabilities:    
Intangible assets (2,455) (2,921)
Total deferred tax liabilities $ (2,455) $ (2,921)