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Income Taxes - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Mar. 31, 2022
Income Tax Disclosure [Line Items]        
Provision for income taxes $ 0 $ 0 $ 0  
Deferred tax assets, net operating loss carryforwards 31,777,000 27,324,000    
Research and development credit carryforwards 9,454,000 5,939,000    
Unrecognized tax benefits 1,962,000 $ 1,304,000 $ 901,000  
Orphan Drug Credits        
Income Tax Disclosure [Line Items]        
Tax credit carry forward amount       $ 900,000
Federal Income Tax        
Income Tax Disclosure [Line Items]        
Deferred tax assets, net operating loss carryforwards 122,000,000.0      
Deferred tax assets, operating loss carryforwards subject to expire $ 11,600,000      
Tax credit carry forward expiration year 2037      
Deferred tax assets, operating loss carryforwards subject to do not expire $ 110,400,000      
Research and development credit carryforwards $ 6,500,000      
Research and experimental expenditures amortize period (in years) 5 years      
California State Income Tax        
Income Tax Disclosure [Line Items]        
Deferred tax assets, net operating loss carryforwards $ 87,500,000      
Deferred tax assets, operating loss carryforwards subject to expire $ 87,500,000      
Tax credit carry forward expiration year 2036      
Research and development credit carryforwards $ 4,900,000      
Foreign Income Tax        
Income Tax Disclosure [Line Items]        
Research and experimental expenditures amortize period (in years) 15 years