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Debt - Summary of Composition of Debt (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Debt Disclosure [Abstract]    
Outstanding principal $ 35,000 $ 30,000
Accrued final payment fees 1,925 1,838
Less debt discounts (2,383) (690)
Total debt, net 34,542 31,148
Less current portion $ (34,542) (11,250)
Long-term debt, net   $ 19,898