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Share Based Compensation - Outstanding and exercisable options (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Feb. 16, 2022
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Outstanding and exercisable options, weighted average exercise price          
Weighted average remaining contractual life (in years)       7 years 9 months 18 days 8 years
Weighted average remaining contractual life for vested options (in years)       6 years 8 months 12 days 6 years 10 months 24 days
Share-based compensation expense   $ 2,380 $ 2,024 $ 6,905 $ 5,304
Unrecognized compensation cost   $ 18,600 $ 17,300 $ 18,600 $ 17,300
Expected period for recognition       2 years 6 months 2 years 7 months 6 days
Plans 2011 and 2019 and 2021 Inducement [Member]          
Outstanding and exercisable options, number of shares          
Outstanding at end of period   7,859,733 5,794,650 7,859,733 5,794,650
Exercisable at end of period   4,050,607 2,702,579 4,050,607 2,702,579
Outstanding and exercisable options, weighted average exercise price          
Outstanding at end of period   $ 6.70 $ 6.94 $ 6.70 $ 6.94
Exercisable at end of period   $ 6.28 $ 5.39 $ 6.28 $ 5.39
2011 Plan          
Outstanding and exercisable options, number of shares          
Outstanding at beginning of period       1,995,971 2,080,097
Exercised       (114,225) (40,538)
Cancelled       (19,387)  
Expired       (1,121)  
Outstanding at end of period   1,861,238 2,039,559 1,861,238 2,039,559
Exercisable at end of period   1,831,482 1,764,146 1,831,482 1,764,146
Outstanding and exercisable options, weighted average exercise price          
Outstanding at beginning of period       $ 2.07 $ 2.15
Exercised       1.38 0.97
Cancelled       9.42  
Expired       0.96  
Outstanding at end of period   $ 2.04 $ 2.18 2.04 2.18
Exercisable at end of period   $ 2.01 $ 2.08 $ 2.01 $ 2.08
2019 Plan          
Outstanding and exercisable options, number of shares          
Outstanding at beginning of period       3,759,834 1,706,190
Granted       1,748,700 2,065,200
Exercised       (15,089) (1,250)
Forfeited         (13,882)
Cancelled       (17,950) (1,167)
Outstanding at end of period   5,475,495 3,755,091 5,475,495 3,755,091
Exercisable at end of period   2,219,125 938,433 2,219,125 938,433
Outstanding and exercisable options, weighted average exercise price          
Outstanding at beginning of period       $ 9.51 $ 13.55
Granted       5.78 6.24
Exercised       3.92 3.74
Forfeited       8.56 12.81
Cancelled       14.31 21.48
Outstanding at end of period   $ 8.32 $ 9.53 8.32 9.53
Exercisable at end of period   $ 9.79 $ 11.61 9.79 11.61
Weighted average fair values of options granted       $ 4.37 $ 4.71
2021 Inducement Plan          
Outstanding and exercisable options, number of shares          
Granted       523,000  
Outstanding at end of period   523,000   523,000  
Outstanding and exercisable options, weighted average exercise price          
Granted       $ 6.37  
Exercised       6.37  
Outstanding at end of period   $ 6.37   6.37  
Weighted average fair values of options granted $ 4.81     $ 4.81