Complex sentence: The book was first published by Joseph Johnson in 1788; a second, illustrated edition, with engravings by William Blake, was released in 1791 and remained in print for around a quarter of a century.
Split into simpler sentences: The book was first published by Joseph Johnson in 1788; a second, illustrated edition came out in 1791 with engravings by William Blake. It was continuously in print for around a quarter of a century.