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Income Taxes - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Taxes Disclosure [Line Items]        
Increase (decrease) in valuation allowance $ 13,900,000 $ (27,200,000)    
Net operating loss carryforwards   3,900,000    
Net unrecognized tax benefit would impact the effective tax rate 0      
Net unrecognized tax benefit 5,436,000 4,156,000 $ 4,416,000 $ 3,650,000
Cumulative or accrued interest and penalties related to unrecognized tax benefits 200,000      
Domestic Federal        
Income Taxes Disclosure [Line Items]        
Net operating loss carryforwards 90,500,000      
Tax credit carryforwards 6,500,000      
Net operating loss carryforwards   158,400,000    
Domestic State        
Income Taxes Disclosure [Line Items]        
Net operating loss carryforwards 61,900,000      
Net operating loss carryforwards   $ 50,500,000    
Domestic State | California        
Income Taxes Disclosure [Line Items]        
Tax credit carryforwards 10,200,000      
Foreign        
Income Taxes Disclosure [Line Items]        
Net operating loss carryforwards $ 13,600,000      
Statutes of limitation for income tax returns start year 3 years      
Statutes of limitation for income tax returns end year 6 years