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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation expense
Total stock based compensation expense	$ 955	$ 1,037	$ 3,600	$ 3,244
Options vested, fair value			4,000	4,000
Research and Development Expense
Stock-based compensation expense
Total stock based compensation expense	294	286	985	746
Selling, general and administrative expense
Stock-based compensation expense
Total stock based compensation expense	661	$ 751	2,615	$ 2,498
Options to purchase Common Stock
Stock-based compensation expense
Unrecognized compensation cost	$ 7,500		$ 7,500
Weighted-average remaining vesting period for recognition			2 years 3 months 18 days
Options outstanding, weighted average contractual life			8 years 1 month 6 days

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

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Amount of cost to be recognized for option under share-based payment arrangement.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock.

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