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Debt - Schedule of Future Minimum Principal and Interest Payments Under Term Loans (Details)
$ in Thousands
Jun. 30, 2022
USD ($)
Debt Disclosure [Abstract]  
2022 $ 3,638
2023 7,510
2024 7,790
2025 30,139
2026 105,773
Total principal and interest payments 154,850
Less interest and final payment fee (54,850)
Total term loan borrowings $ 100,000