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Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
At The Market Offerings      
Stock issuance cost     $ 52
At The Market Offerings | 2019 Sales Agreement [Member]      
Stock issuance cost   $ 164  
At The Market Offerings | 2022 Sales Agreement [Member]      
Stock issuance cost $ 376 12,500  
Follow On Public Offering      
Stock issuance cost   $ 253 $ 284