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Stock-Based Compensation, Components of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Stock-Based Compensation Expense [Abstract]        
Total stock-based compensation expense $ 647 $ 581 $ 1,505 $ 835
Research and Development [Member]        
Stock-Based Compensation Expense [Abstract]        
Total stock-based compensation expense 154 89 379 156
General and Administrative [Member]        
Stock-Based Compensation Expense [Abstract]        
Total stock-based compensation expense $ 493 $ 492 $ 1,126 $ 679