Income Taxes - Significant Components of Net Deferred Taxes (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 78,276	$ 70,731
Fixed assets and intangible assets	1,244	1,449
Lease liabilities	514	660
Accruals and reserves	1,170	1,178
Stock-based compensation	918	864
Tax credits	5,375	4,763
State Taxes		3
Employee Retention Credit	172
Research & Development	3,077
Other	1,346	890
Gross deferred tax assets	92,092	80,538
Less: valuation allowance	(91,113)	(79,476)
Net deferred tax assets	979	1,062
Deferred tax liabilities:
Fixed assets and intangible assets	(408)	(392)
Right of use assets	(571)	(670)
Total gross deferred tax liabilities	$ (979)	$ (1,062)