Stock-Based Compensation, Components of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	$ 662	$ 858
Research and Development [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	270	225
General and Administrative [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	$ 392	$ 633