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Notes Payable - Schedule Future Maturities of Term Loans, Including Final Payment Fee (Details) $ in Thousands | Jun. 30, 2021 USD ($)
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Debt Disclosure [Abstract] |
Year ending December 31, 2022 | $ 2,500
Year ending December 31, 2023 | 5,000
Year ending December 31, 2024 | 3,000
Debt instrument carrying amount including unaccreted liability for final payment fee | 10,500
Unaccreted balance for Final Payment fee on Term Loans | (256)
Less: unamortized discount | (177)
Total | 10,067
Less current portion | 0
Noncurrent portion | $ 10,067

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