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Income Tax - Schedule of Deferred Tax Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Components of Deferred Tax Assets [Abstract]    
Net operating loss $ 73,600 $ 70,179
Amortization 81 99
R&D expenditures capitalization 10,923 4,879
Stock-based compensation 3,292 2,960
Research and development credit 11,271 9,202
Right-of-use liability 752 1,204
Depreciation 1,035 779
Other 2,934 2,332
Gross deferred tax assets 103,888 91,634
Less: valuation allowance (103,242) (90,471)
Total net deferred tax assets 646 1,163
Right-of-use asset (646) (1,163)
Total deferred tax liabilities (646) (1,163)
Net deferred tax assets $ 0 $ 0