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Long-term Debt - Schedule of Maturities of Future Principal Obligations (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Debt Disclosure [Abstract]    
Remainder of 2021 $ 549  
2022 1,675  
2023 1,291  
2024 1,304  
2025 438  
Thereafter 0  
Total debt $ 5,257 $ 5,212