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Schedule of Research and Development (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
License Strategic Alliance and Research Agreements [Member] | Research and Development Expense [Member]        
Loss Contingencies [Line Items]        
Amount Expensed for License, Strategic Alliance, and Research Agreements $ 1,639,000 $ 2,100,000 $ 3,741,000 $ 3,348,000