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Notes Payable - Schedule of Aggregate Carrying Amounts of Term Loans (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Less: unamortized discount	$ (36)
Total	7,643
Line of Credit
Debt Instrument [Line Items]
Principal	7,143	$ 8,571
Add: accreted liability for final payment fee	448	430
Less: unamortized discount	(36)	(48)
Total	$ 7,555	$ 8,953

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