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Hercules Loan Facility (Tables)
 3 Months Ended
Mar. 31, 2022
Debt Disclosure [Abstract]  
Future Minimum Payments Under Loans Payable
Future minimum payments, including interest and principal, under the loans payable outstanding as of March 31, 2022 are as follows (in thousands):
Year Ending December 31:
 Amount
2022 (remaining nine months)$3,021 
202322,594 
202424,449 
$50,064 
Less amount representing interest(7,284)
Less unamortized discount(1,811)
Less deferred charges(2,780)
Loans payable, net of discount$38,189