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Loans and Security Agreement (Tables)
 9 Months Ended
Sep. 30, 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 September 30, 2021 (in thousands):
Principal Payments
2021$1,500 
20227,500 
20236,000 
20246,000 
20251,500 
$22,500