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Notes Payable - Schedule Future Maturities of Term Loans, Including Final Payment Fee (Details) $ in Thousands	Jun. 30, 2021 USD ($)
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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Debt instrument carrying amount including unaccreted liability for final payment fee maturities repayments of principal in year four.

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Amount, after accumulated amortization, of debt discount.

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