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Income Taxes - Schedule of Components of Income Tax Expense (Benefit) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Tax at statutory federal rate $ (46,343) $ (47,728) $ (42,997)
State tax, net of federal benefit (8,683) (8,218) (9,823)
Research and development credits (4,173) (4,327) (4,855)
Stock-based compensation expense 4,584 4,675 2,906
Non-deductible compensation 1,970 1,455 4,720
Change in valuation allowance 51,459 53,621 49,479
Other 1,186 522 570
Provision for income taxes $ 0 $ 0 $ 0