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Notes Payable - Schedule Future Maturities of Term Loans, Including Final Payment Fee (Details) $ in Thousands	Mar. 31, 2021 USD ($)
Debt Disclosure [Abstract]
Remainder of 2021	$ 1,667
Year ending December 31, 2022	3,333
Year ending December 31, 2023	3,333
Year ending December 31, 2024	2,117
Debt instrument carrying amount including unaccreted liability for final payment fee	10,450
Unaccreted balance for Final Payment fee on Term Loans	(239)
Less: unamortized discount	(205)
Total	10,006
Less current portion	(2,500)
Noncurrent portion	$ 7,506

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