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Stock-Based Compensation Summary of Stock-Based Compensation Expense Classification (Details) - USD ($) $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total stock-based compensation | $ 1,739 | $ 1,645
Research and development expense |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total stock-based compensation | 783 | 831
Selling, general and administrative expense |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total stock-based compensation | $ 956 | $ 814

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