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Debt - Schedule of Future Minimum Principal and Interest Payments Under Term Loans (Details)
$ in Thousands
Dec. 31, 2022
USD ($)
Debt Disclosure [Abstract]  
2023 $ 0
2024 0
2025 29,707
2026 94,764
Total principal and interest payments 124,471
Less payment-in-kind and final payment fee (24,471)
Total term loan borrowings $ 100,000