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Debt - Long-Term Debt (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Long-term debt    
Less: Amounts due within one year $ (1,823) $ (2,041)
Total long-term debt 6,046 5,686
Maturities of long-term debt    
2022 3,795  
2023 4,811  
Term loan    
Long-term debt    
Term loan payable 5,000 5,000
End of term fee 2,188 2,048
Unamortized debt issuance costs (193) (206)
Total long-term debt 6,995 6,842
Other long-term debt    
Long-term debt    
Total long-term debt $ 874 $ 885