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Debt (Tables)
 12 Months Ended
Dec. 31, 2021
Debt Disclosure [Abstract]  
Schedule of Future Principal Debt Payments on the Loan Payable
Future principal debt payments on the loan payable are as follows (in thousands):
 December 31, 2021
2022$— 
20236,676 
20249,604 
20258,720 
Total principal payments25,000 
Final fee due in 2023779 
Final fee due at maturity in 20251,063 
Total principal payments and final fee26,842 
Unamortized debt discount and final fee1,827 
Note payable$25,015