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Income Taxes - Income Tax Expense (Benefit) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Income tax benefit at federal statutory rate $ 3,339 $ (7,619) $ (5,167)
State income tax, net of federal benefit (254) (2,792) (1,174)
Warrants revaluation 356 3,588 2,326
Research and development credits (5,703) (5,330) (2,091)
Section 382 limitation (97) 1,021 25,043
Stock-based compensation (7,609) (18,309) (8,974)
Officers' compensation 4,024 2,612 3,133
Other 124 479 972
Change in valuation allowance 6,155 24,450 (13,919)
Income tax expense (benefit) $ 335 $ (1,900) $ 149