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Consolidated Statements of Comprehensive Loss Parentheticals - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Consolidated Statements of Operations [Abstract] |  |  |  |
Stock-based compensation expense associated with research and development expense | $ 1,098 | $ 1,184 | $ 2,130 | $ 2,470
Stock-based compensation expense associated with selling, general and administrative expense | $ 1,734 | $ 1,602 | $ 3,474 | $ 3,167

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