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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments under Term Loan (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Debt Disclosure [Abstract]    
2021 $ 735  
2022 4,438  
2023 6,949  
Total principal and interest payments 12,122  
Less interest and final payment fee (2,122)  
Long-term debt $ 10,000 $ 10,000