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Income Taxes - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Net operating losses $ 87,258 $ 65,905
R&D credits 10,094 9,013
Interest limitation carryover 12,456 6,467
Intangible assets 15,319 12,213
Stock based compensation 2,939 3,866
Advance payments 2,046 2,492
Capitalized R&D expenditures 18,027 10,566
Right of use lease liabilities 20,885 20,457
Loss on discontinued operations 0 9,976
Other 3,698 7,258
Gross deferred tax assets 172,722 148,213
Less valuation allowance (151,084) (118,040)
Net deferred tax assets 21,638 30,173
Deferred tax liabilities:    
Right of use assets (15,210) (17,137)
Property and equipment (6,254) (11,826)
Other (174) (1,493)
Gross deferred tax liabilities (21,638) (30,456)
Net deferred tax liability $ 0 $ (283)