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Income Taxes - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Deferred tax assets:    
Federal and state loss carryforwards $ 1,697 $ 681
Reserves, accruals and other 156 230
Depreciation and amortization 1,629 1,901
Deferred stock-based compensation 2,613 2,571
Research and development credit carryforwards 6,707 6,537
Foreign tax and other credits 61 242
Total deferred tax assets 12,863 12,162
Deferred tax liabilities:    
Less: Valuation allowance (12,802) (11,920)
Net deferred tax assets $ 61 $ 242