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Equity Transactions and Share-based Compensation (Tables)
 9 Months Ended
Sep. 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 September 30,Nine Months Ended September 30,
 2024202320242023
Research and development expense$1,350 $1,739 $4,636 $5,619 
General and administrative expense1,039 6,141 2,695 9,585 
          Total share-based compensation expense$2,389 $7,880 $7,331 $15,204