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Debt - MidCap Credit Facility (Details)
$ in Thousands
1 Months Ended 12 Months Ended
Apr. 30, 2018
USD ($)
tranche
Dec. 31, 2020
USD ($)
Dec. 31, 2018
USD ($)
Debt      
Loss on extinguishment of debt     $ (1,822)
MidCap Credit Facility      
Debt      
Debt Amount $ 14,000    
End of Term Charge   $ 400  
Loss on extinguishment of debt     1,200
Interest Expenses     $ 600
Revolver      
Debt      
Debt Amount 3,500    
MidCap Term Loans      
Debt      
Debt Amount $ 10,500    
Number of Tranches | tranche 2    
MidCap Tranche 1      
Debt      
Debt Amount $ 8,000    
MidCap Tranche 2      
Debt      
Debt Amount $ 2,500    
LIBOR | Revolver      
Debt      
Interest Rate   3.75%  
LIBOR | MidCap Term Loans      
Debt      
Interest Rate   7.00%