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Debt - Schedule of Future Minimum Principal and Interest Payments Under Term Loans (Details)
$ in Thousands
Sep. 30, 2020
USD ($)
Debt Disclosure [Abstract]  
2020 $ 916
2021 13,219
2022 19,065
2023 17,840
2024 11,198
Total principal and interest payments 62,238
Less interest and final payment fee (12,238)
Total term loan borrowings $ 50,000