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Notes Payable - Schedule Future Maturities of Term Loan, Including Final Payment Fee (Details) $ in Thousands	Dec. 31, 2022 USD ($)
Debt Disclosure [Abstract]
Year ending December 31, 2023	$ 5,714
Year ending December 31, 2024	3,357
Debt instrument carrying amount including unaccreted liability for final payment fee	8,953
Unaccreted balance for Final Payment fee on Term Loans	(70)
Less: unamortized discount	(48)
Total	9,071
Less current portion	(5,714)
Noncurrent portion	$ 3,239

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