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Debt - Summary of Composition of Debt (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Debt Disclosure [Abstract]    
Outstanding principal $ 37,500 $ 35,000
Accrued final payment fees 1,856 1,925
Less debt discounts (2,643) (971)
Total debt, net 36,713 35,954
Less current portion   (13,125)
Long-term debt, net $ 36,713 $ 22,829