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Consolidated Statements of Comprehensive Loss Parentheticals - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Consolidated Statements of Operations [Abstract] |  |  |  |
Stock-based compensation expense associated with research and development expense | $ 1,138 | $ 1,029 | $ 3,608 | $ 5,154
Stock-based compensation expense associated with selling, general and administrative expense | $ 1,574 | $ 875 | $ 4,741 | $ 5,440

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