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Consolidated Statements of Stockholders' Equity (Parentheticals) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Rights Offering [Member]      
Offering price per unit (in dollars per share)     $ 7.01
Issuance cost $ 136   $ 565
Private Placement [Member]      
Issuance cost   $ 106  
ATM Offering [Member]      
Issuance cost   $ 568