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Long-Term Debt - Schedule of Future Minimum Principal and Interest Payments Under Term Loans (Details)
$ in Thousands
Mar. 31, 2020
USD ($)
Debt Disclosure [Abstract]  
2020 $ 2,457
2021 13,218
2022 19,065
2023 17,840
2024 11,198
Total principal and interest payments 63,778
Less interest and final payment fee (13,778)
Long-term debt $ 50,000