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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred Tax Assets:    
Net operating loss carryforwards $ 72,722 $ 70,822
Research and development tax credits 4,149 3,807
Interest expense limitation 5,120 3,036
Property and equipment   234
Capitalized research costs 4,281 2,874
Share-based compensation 1,685 1,619
Lease liability 6,398  
Accruals and reserves 667 1,932
Total 95,022 84,324
Valuation allowance (93,023) (82,552)
Total deferred tax assets after valuation allowance 1,999 1,772
Deferred Tax Liabilities:    
Property and equipment (4)  
Right-of-Use Asset (692)  
Intangible assets (1,303) (1,772)
Total deferred tax liabilities $ (1,999) $ (1,772)