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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation in continuing operations | $ 3,182 | $ 2,912 | $ 7,074 | $ 5,972
Discontinued operations | (110) | 205 | (110) | 416
Total stock-based compensation | 3,072 | 3,117 | 6,964 | 6,388
Research and development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation in continuing operations | 1,389 | 1,390 | 3,104 | 2,840
Selling, general and administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation in continuing operations | $ 1,793 | $ 1,522 | $ 3,970 | $ 3,132

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