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Debt - Schedule of Debt (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Debt Instrument [Line Items] |  |
Total debt | $ 10,988 | $ 16,765
Silicon Valley Bank Loan [Member] |  |
Debt Instrument [Line Items] |  |
Loan and Security Agreement | 11,395 | 17,395
Unamortized discount on Term Loan Agreement | $ (407) | $ (630)

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