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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments under Term Loan (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Debt Disclosure [Abstract]    
Remaining in 2021 $ 185  
2022 4,438  
2023 6,949  
Total principal and interest payments 11,572  
Less interest and final payment fee (1,572)  
Long-term debt $ 10,000 $ 10,000