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Equity Transactions and Share-based Compensation (Tables)
6 Months Ended
Jun. 30, 2021
Share-based Payment Arrangement [Abstract]  
Schedule of employee and non-employee share-based compensation expense recognized related to stock options, the ESPP and RSUs Total share-based compensation expense recognized related to stock options, the ESPP and RSUs was as follows (in thousands): 
 Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
Research and development expense$1,765 $725 $3,142 $1,465 
General and administrative expense1,347 666 2,554 1,252 
          Total share-based compensation expense$3,112 $1,391 $5,696 $2,717