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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Stock-based compensation expense
Total stock based compensation expense	$ 940	$ 362	$ 2,244	$ 821
Options vested, fair value			1,200	800
Research and Development Expense
Stock-based compensation expense
Total stock based compensation expense	174	104	286	251
Selling, general and administrative expense
Stock-based compensation expense
Total stock based compensation expense	766	$ 258	1,958	$ 570
Options to purchase Common Stock
Stock-based compensation expense
Unrecognized compensation cost	$ 10,100		$ 10,100
Weighted-average remaining vesting period for recognition			3 years 3 months 18 days
Options outstanding, weighted average contractual life			8 years 10 months 24 days

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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