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Debt - Schedule of Long-term and Short-term Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Principal payments due	$ 35,000	$ 35,000
Less: debt discount related to warrant liability and issuance costs	(1,235)	(1,687)
Total amounts outstanding	33,765	33,313
Less: current portion	0	0
Total accrued and other current liabilities	33,765	33,313
Term Loan
Debt Instrument [Line Items]
Principal payments due	$ 35,000	$ 35,000

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