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Debt - Summary of Future Principal Payments (Details) - Silicon Valley Bank
$ in Thousands
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]  
2021 $ 5,455
2022 5,455
2023 1,363
Thereafter 0
Total principal payments 12,273
Less unamortized loan fees (145)
Total term loan borrowings $ 12,128