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Borrowing - Future Payment Obligations (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Future payment obligations    
Total repayment obligations $ 52,475  
Less: Unamortized discount and debt issuance costs (307)  
Less: Unaccreted value of final fee (692)  
Loan payable 51,476  
Loan payable, current portion (44,444) $ (4,167)
Loan payable, net of current portion $ 7,032 $ 46,621