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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred Tax Assets:    
Net operating loss carryforwards $ 61,874 $ 53,128
Research and development tax credits 3,372 2,860
Interest expense limitation 554  
Property and equipment 215 279
Stock-based compensation 1,977 865
Accruals and reserves 1,618 1,406
Total 69,610 58,538
Valuation allowance (67,457) (56,083)
Total deferred tax assets after valuation allowance 2,153 2,455
Deferred Tax Liabilities:    
Intangible assets (2,153) (2,455)
Total deferred tax liabilities $ (2,153) $ (2,455)