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Income Taxes - Components of deferred tax assets and liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Deferred tax assets: |  |
Net operating loss carryforwards | $ 34,157 | $ 28,218
Research and development credit carryforwards | 2,599 | 2,006
Accruals and other | 717 | 798
Lease liability | 388 | 650
Property, equipment and software | 93 | 165
Amortization | 198 | 189
Capitalized research and experimental expenses | 2,218 | 1,191
Other | 11 | 11
Total deferred tax assets | 40,381 | 33,228
Valuation allowance | (39,989) | (32,702)
Deferred tax assets recognized | 392 | 526
Deferred tax liabilities: |  |
Right of use asset | (392) | (526)
Total deferred tax liabilities | $ (392) | $ (526)

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