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Borrowings (Tables)
3 Months Ended
Mar. 31, 2023
Debt Disclosure [Abstract]  
Schedule of Future Minimum Aggregate Payments for Outstanding Borrowings As of March 31, 2023, future minimum aggregate payments, including interest, for outstanding borrowings under the 2017 Loan Amendment are as follows (in thousands): 
2023 (remaining)$1,498 
20243,279 
202516,451 
202615,037 
Total36,265 
Less:
Unamortized debt discount and issuance costs(145)
Interest(6,774)
Total borrowings, net of discounts and debt issuance costs29,346 
Less: Borrowings-current portion(254)
Borrowings-non-current portion, net of discounts and debt issuance costs$29,092