Stock Compensation - Share based compensation expense (Details) - USD ($) $ in Thousands	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022
Equity Incentive Plans
Stock-based compensation	$ 2,197	$ 2,927
Research and Development Expense
Equity Incentive Plans
Stock-based compensation	444	672
General and Administrative Expense
Equity Incentive Plans
Stock-based compensation	$ 1,753	2,257
Cost of goods sold
Equity Incentive Plans
Stock-based compensation		$ (2)

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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+ Details