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Notes Payable - Summary of Future Principal Payments and Final Payment Due (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Long-Term Debt, Fiscal Year Maturity [Abstract]    
2023 $ 9,429  
2024 9,429  
2025 9,429  
2026 5,084  
Total 33,371  
Less current portion (9,429)  
Less unamortized portion of final payment (705)  
Less unamortized debt issuance costs (246)  
Notes payable, long term $ 22,991 $ 32,086