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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments under Term Loan (Details) - USD ($)
$ in Thousands
Sep. 30, 2022
Dec. 31, 2021
Debt Disclosure [Abstract]    
Remaining in 2022 $ 401  
2023 5,866  
2024 9,051  
2025 3,910  
Total principal and interest payments 19,228  
Less interest and final payment fee (4,228)  
Total debt $ 15,000 $ 15,000