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Income Taxes (Tables)
 12 Months Ended
Dec. 31, 2022
Income Tax Disclosure [Abstract]  
Schedule of Loss Before Income Taxes, Domestic and Foreign Our loss before provision for income taxes were as follows (in thousands): 
 Year Ended December 31,
 202220212020
United States$(33,269)$(21,037)$(23,452)
Foreign(47)(53)(219)
Loss before provision for income taxes$(33,316)$(21,090)$(23,671)
Components of Provision for Income Taxes The components of the provision for income taxes are as follows (in thousands): 
 Year Ended December 31,
 202220212020
Current provision:
State$141 $— $5 
Foreign142 198 342 
Total current provision $283 $198 $347 
Deferred benefit:
Foreign(7)(9)(8)
Total deferred benefit$(7)$(9)$(8)
Provision for income taxes$276 $189 $339 
Reconciliation of Provision for Income Taxes Calculated at the Statutory Rate to Provision for Income Taxes Reconciliation of the provision for income taxes calculated at the statutory rate to our provision for income taxes is as follows (in thousands): 
 Year Ended December 31,
 202220212020
Tax benefit at federal statutory rate$(6,996)$(4,429)$(4,971)
State taxes(494)(2,235)(708)
Research and development credits(1,793)(1,132)(811)
Foreign operations taxed at different rates78 80 245 
Stock-based compensation239 (2,698)140 
Other nondeductible items(238)711 61 
Executive compensation80 257 24 
Change in valuation allowance9,400 9,635 6,359 
Provision for income taxes$276 $189 $339 
Significant Components of Deferred Tax Assets and Liabilities Significant components of our deferred tax assets and liabilities are as follows (in thousands): 
 December 31,
 20222021
Deferred tax assets:
Net operating losses$69,915 $78,525 
Credits14,806 11,895 
Deferred revenues1,123 1,490 
Stock-based compensation4,967 3,946 
Reserves and accruals2,487 2,928 
Depreciation— 514 
Intangible assets866 1,356 
Capital losses413 26 
R&D Capitalization16,502 — 
Unrealized gain/loss1 418 
Lease liability9,586 11,206 
Other assets124 122 
Total deferred tax assets:120,790 112,426 
Valuation allowance(111,183)(101,762)
Deferred tax liabilities:
Right-of-use assets(8,624)(10,373)
Property and Equipment(736)— 
Other(263)(314)
Total deferred tax liabilities:(9,623)(10,687)
Net deferred tax liabilities$(16)$(23)
Summary of Federal, State and Foreign NOL Carryforwards and Federal Research and Development Tax Credits The following table sets forth our federal, state and foreign NOL carryforwards and federal research and development tax credits as of December 31, 2022 (in thousands): 
 December 31, 2022
 AmountExpiration
Years
Net operating losses, federal$183,022 2026-2037
Net operating losses, federal$109,069 Do not expire
Net operating losses, state$138,775 2028-2041
Tax credits, federal$16,228 2023-2041
Tax credits, state$17,168 Do not expire
Reconciliation of the Beginning and Ending Amount of Unrecognized Tax Benefits A reconciliation of the beginning and ending amount of unrecognized tax benefits is as follows (in thousands): 
 December 31,
 202220212020
Balance at beginning of year$15,261 $12,683 $11,330 
Additions based on tax positions related to current year3,553 2,206 1,357 
Additions to tax position of prior years— 372 — 
Reductions to tax position of prior years(243)— (4)
Balance at end of year$18,571 $15,261 $12,683