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Notes Payable - Schedule of Aggregate Carrying Amounts of Term Loan (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Less: unamortized discount	$ (48)
Total	9,071
Line of Credit
Debt Instrument [Line Items]
Principal	8,571	$ 10,000
Add: accreted liability for final payment fee	430	310
Less: unamortized discount	(48)	(132)
Total	$ 8,953	$ 10,178

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