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Term Loan (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 9 Months Ended
May 31, 2020
Aug. 31, 2018
Sep. 30, 2020
Sep. 30, 2021
Debt Instrument [Line Items]        
Loss on repayment of term loan     $ (988)  
Term Loan [Member]        
Debt Instrument [Line Items]        
Debt instrument, commencing period   2018-08    
Debt instrument, interest only payment end date   Mar. 31, 2020    
Debt instrument principal repayment period   30 months    
Debt instrument, maturity date   Sep. 01, 2022    
Debt instrument, final payment fee percentage   6.50%    
Debt instrument, final payment fee $ 1,008      
Debt instrument prepayment fee 225      
Warrants outstanding to purchase common stock       40,000
Warrants exercise price per common share       $ 9.79
Loss on repayment of term loan $ 988      
Term Loan [Member] | Prime Rate [Member]        
Debt Instrument [Line Items]        
Debt instrument, floating interest rate   0.50%    
Silicon Valley Bank [Member] | Term Loan [Member] | Loan Agreement [Member]        
Debt Instrument [Line Items]        
Aggregate principal amount of debt instrument   $ 15,500