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Debt (Tables)
 12 Months Ended
Dec. 31, 2022
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, 2022
2023$— 
202412,367 
202512,633 
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 fee1,257 
Note payable$25,585