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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)