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Consolidated Statements of Comprehensive Loss Parentheticals - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Consolidated Statements of Operations [Abstract]        
Stock-based compensation expense associated with research and development expense $ 1,302 $ 1,098 $ 2,505 $ 2,130
Stock-based compensation expense associated with selling, general and administrative expense $ 2,513 $ 1,734 $ 4,725 $ 3,474