Income Taxes - Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Rate Reconciliation
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 rates	78	80	245
Stock-based compensation	239	(2,698)	140
Other nondeductible items	(238)	711	61
Executive compensation	80	257	24
Change in valuation allowance	9,400	9,635	6,359
Provision for income taxes	$ 276	$ 189	$ 339

Effective Income Tax Rate Reconciliation, Nondeductible Expense, Executive Compensation

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets.

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The amount of income tax expense or benefit for the period computed by applying the domestic federal statutory tax rates to pretax income from continuing operations.

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