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Notes Payable - Schedule of Future Maturities of Term Loans, Including Final Payment Fee (Details) $ in Thousands	Mar. 31, 2023 USD ($)
Debt Disclosure [Abstract]
Remainder of 2023 (nine months)	$ 4,286
Year ending December 31, 2024	3,357
Debt instrument carrying amount including unaccreted liability for final payment fee	7,555
Unaccreted balance for Final Payment fee on Term Loans	(52)
Less: unamortized discount	(36)
Total	7,643
Less current portion	(5,714)
Noncurrent portion	$ 1,841

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