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Income Taxes - Schedule of Principal Components of Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Income Tax Disclosure [Abstract] |  |
Depreciation |  | $ 367
Stock-based compensation | $ 554 | 405
Research and development credits | 6,817 | 6,904
Capitalized research expense | 1,557 |
Net operating loss | 2,562 | 3,380
Other | 335 | 254
Total deferred tax assts | 11,825 | 11,310
Valuation allowance | (11,115) | (10,730)
Depreciation | (193) |
Intangibles | 517 | 580
Total deferred tax liabilities | $ (710) | $ (580)

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