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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Stock Incentive Plans        
Stock-based compensation expense $ 378 $ 416 $ 1,227 $ 1,340
Research and development        
Stock Incentive Plans        
Stock-based compensation expense 162 168 462 505
General and administrative        
Stock Incentive Plans        
Stock-based compensation expense $ 216 $ 248 $ 765 $ 835