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Borrowings (Details) - USD ($)
$ in Thousands
12 Months Ended
Oct. 09, 2020
May 16, 2018
Dec. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Term Loans          
Term loan amount   $ 50,000      
Net proceeds from the loan   $ 49,300 $ 49,292    
Interest-only payment extension term (in years) 12 months 6 months      
Amount of fee payable upon closing of the term loan $ 100 $ 500      
Additional default interest rate   4.00%      
Future debt payment obligations          
2021       $ 4,167  
2022       48,308  
Total repayment obligations       52,475  
Less: Unamortized discount and debt issuance costs       (518)  
Less: Unaccreted value of final fee       (1,169)  
Loan payable       50,788  
Less: Loan payable, current portion       (4,167) $ (1,183)
Loan payable, net of current portion       $ 46,621 $ 48,831
At Maturity          
Term Loans          
Final payment fee (as a percent) 4.95% 3.95%      
Prior to first anniversary of closing date          
Term Loans          
Prepayment fee (as a percent)   3.00%      
After first anniversary of closing date          
Term Loans          
Prepayment fee (as a percent)   2.00%      
After second anniversary to maturity date          
Term Loans          
Prepayment fee (as a percent)   1.00%      
LIBOR          
Term Loans          
Base interest rate   7.45%      
Floating interest rate   one-month LIBOR