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Supplementary Balance Sheet Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2022
Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Accrued compensation $ 1,609 $ 1,435
Preferred stock dividend 432 414
Clinical trials 2,132 1,639
Research agreements and services 1,125 726
Director fees 125 141
Professional fees and outside services 29 63
Patent, license and other fees 122 43
Other accrued liabilities 564 66
Total accrued liabilities $ 6,138 $ 4,527