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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments under Term Loan (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Debt Disclosure [Abstract]    
2022 $ 1,179  
2023 5,514  
2024 8,803  
2025 3,818  
Total principal and interest payments 19,314  
Less interest and final payment fee (4,314)  
Long-term debt $ 15,000 $ 10,000