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Loans and Security Agreement (Tables)
 3 Months Ended
Mar. 31, 2021
Debt Disclosure [Abstract]  
Schedule of Principal Payments on Term Loan The following table reflects the schedule of principal payments on the Term Loan as of March 31, 2021 (in thousands):
Principal Payments
2021$— 
20222,250 
20239,000 
20249,000 
20252,250 
$22,500