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Debt - Scheduled Future Payments on Term Loan (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]    
Less: current portion $ (3,222) $ 0
Long-term portion 54,031 $ 56,940
SVB Term Loan    
Debt Instrument [Line Items]    
2022 3,222  
2023 19,333  
2024 19,333  
2025 16,112  
Total future principal payments 58,000  
Less: unamortized debt discount (747)  
Carrying value of long-term debt 57,253  
Less: current portion (3,222)  
Long-term portion $ 54,031