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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
Income tax provision at the federal statutory tax rate 21.00% 21.00%
State taxes, net of federal benefit 3.50% 4.10%
Research and development credits 1.90% 2.60%
Stock-based compensation (2.40%) (1.40%)
Other non-deductible permanent items (0.20%) 2.60%
Expired tax attributes (1.50%) (2.00%)
Other 0.00% 0.20%
Change in valuation allowance (22.30%) (27.10%)
Income tax expense 0.00% 0.00%
Income tax provision at the federal statutory tax rate $ (14,017) $ (10,223)
State taxes, net of federal benefit (2,358) (1,989)
Research and development credits (1,269) (1,241)
Stock-based compensation 1,625 677
Other non-deductible permanent items 105 (1,252)
Expired tax attributes 988 960
Other 27 (113)
Change in valuation allowance 14,908 13,189
Income tax expense $ 9 $ 8