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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]      
Intraperiod tax allocation expense (benefit) $ 79 $ (22)  
Valuation allowance for deferred tax assets (18,007) (18,912)  
State income tax net operating loss carryforwards 50,400    
Unrecognized tax benefits 2,561 $ 2,778 $ 2,941
Tax benefits, if recognized, would reduce effective tax rate 2,100    
Internal Revenue Service (IRS)      
Operating Loss Carryforwards [Line Items]      
Federal income tax net operating loss carryforwards 79,100    
State loss carryforward subject to expiration 15,600    
Federal and California research and other credit carryforwards 400    
State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
State loss carryforward subject to expiration 1,300    
California Franchise Tax Board      
Operating Loss Carryforwards [Line Items]      
Federal and California research and other credit carryforwards 2,100    
Expiring In Next Twelve Months | Internal Revenue Service (IRS)      
Operating Loss Carryforwards [Line Items]      
State loss carryforward subject to expiration 16,000    
Expiring In Next Twelve Months | State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
State loss carryforward subject to expiration $ 2,600