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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Taxes    
Period of amortization of capitalized R&D, domestic expenditures 5 years  
Period of amortization of capitalized R&D, foreign expenditures 15 years  
Deferred tax assets, capitalized research and development expenditure $ 2,522  
Valuation allowance 13,707 $ 13,500
Net operating loss carryforwards 39,600 40,900
Unlimited carryforward amount 35,100 37,800
Research and development tax credit carryforwards $ 3,100 $ 3,300