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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Federal rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 2.57% 0.07% 0.17%
Other nontaxable of nondeductible items (0.05%) 0.00% 0.00%
Stock-based compensation (1.33%) (0.67%) (2.25%)
Change in fair value of derivative, warrant liability, and gain on extinguishment of convertible notes 0.00% (0.08%) 0.16%
Amortization of debt discount 0.00% (0.67%) 0.00%
Foreign rate differential 0.14% 0.34% 0.13%
Effect of changes in tax laws or rates enacted in the current period (0.83%) 0.00% 0.00%
Change in valuation allowance (21.73%) (18.94%) (18.99%)
Other 0.53% (0.66%) 0.54%
Income tax benefit 0.30% 0.39% 0.76%