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Stock-based Compensation, Share-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Stock-based Compensation Expense [Abstract]        
Stock-based compensation $ 493 $ 478 $ 1,383 $ 1,435
General and Administrative [Member]        
Stock-based Compensation Expense [Abstract]        
Stock-based compensation 299 322 870 804
Research and Development [Member]        
Stock-based Compensation Expense [Abstract]        
Stock-based compensation $ 194 $ 156 $ 513 $ 631