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Income Taxes - Schedule of Deferred Tax Assets and Liabilities Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Deferred tax assets    
Net operating loss carryforwards $ 4,403 $ 11,085
Research and development credit carryforwards 7,084 5,213
Operating lease liability 411 2,154
Deferred revenue 34,625 11,891
Accruals and reserves 958 648
Capitalized research costs 2,193 2,506
Other 1,008 88
Total gross deferred tax assets 50,682 33,585
Valuation allowance (49,568) (30,945)
Net deferred tax assets 1,114 2,640
Deferred tax liabilities    
Depreciation (771) (597)
Right-of-use asset (343) (2,043)
Total gross deferred tax liabilities $ (1,114) $ (2,640)