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Income Taxes - Income Tax (Provision) for Federal Statutory Corporate Income Tax Rate (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Income Taxes |  |
Tax benefit (provision) at federal statutory rate | $ (5,768) | $ 1,674
State income tax benefit (provision), net of federal benefit | (1,093) | 335
Research and development tax credits | 457 | 361
Foreign earnings or losses taxed at different rates | (68) | (28)
Tax rate change | (60) | (2)
Other | (51) | (31)
Change in valuation allowance | (321) | (2,026)
Tax benefit (provision) | $ (6,904) | $ 283

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