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Debt - Principal Maturities of Long-Term Debt (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Debt Disclosure [Abstract]
2021 (remaining six months)	$ 0
2022	1,459
2023	5,833
2024	5,833
2025	4,375
Principal balance outstanding	17,500
less: unamortized discount and debt issuance costs	(770)
Long-term debt	16,730
Current portion	0
Noncurrent portion	$ 16,730	$ 16,589

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