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Equity Transactions and Share-based Compensation (Tables)
 6 Months Ended
Jun. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Employee and Non-Employee Share-Based Compensation Expense Recognized Related to Stock Options, the ESPP and RSUs Total share-based compensation expense recognized related to stock options, the ESPP and RSUs was as follows (in thousands):
 Three Months Ended June 30,Six Months Ended June 30,
 2024202320242023
Research and development expense$1,416 $1,566 $3,286 $3,880 
General and administrative expense777 1,393 1,656 3,444 
          Total share-based compensation expense$2,193 $2,959 $4,942 $7,324