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Debt - Summary of Composition of Debt (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Debt Disclosure [Abstract]    
Outstanding principal $ 35,000 $ 35,000
Accrued final payment fees 1,925 1,925
Less debt discounts (971) (1,590)
Total debt, net 35,954 35,335
Less current portion (13,125)  
Long-term debt, net $ 22,829 $ 35,335