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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments under Term Loan (Details) - USD ($)
$ in Thousands
Jun. 30, 2022
Dec. 31, 2021
Debt Disclosure [Abstract]    
Remaining in 2022 $ 647  
2023 5,690  
2024 8,927  
2025 3,864  
Total principal and interest payments 19,128  
Less interest and final payment fee (4,128)  
Long-term debt $ 15,000 $ 15,000