Stockholders' Equity (Tables)  | 
3 Months Ended | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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Mar. 31, 2023  | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Summary of Stock Option Activities | 
 The following table summarizes stock option activities for the three months ended March 31, 2023: 
 
 
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| Schedule of Stock-Based Compensation Expense | 
 The following table summarizes stock-based compensation expense for the three months ended March 31, 2023 and 2022 (in thousands): 
 
 
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| Summary of Warrant Activities | 
 A summary of warrant activities for the three months ended March 31, 2023, is presented below: 
 
 
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| Restricted Stock Awards [Member] | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Schedules of Restricted Stock and Restricted Stock Unit Activity | 
 The following table summarizes restricted stock award activities for the three months ended March 31, 2023: 
 
 
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| Restricted Stock Units [Member] | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Schedules of Restricted Stock and Restricted Stock Unit Activity | 
 Certain employees and consultants have been awarded restricted stock units with time-based vesting. The following table summarizes restricted stock units’ activities for the three months ended March 31, 2023: 
 
 
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