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Debt - Schedule of Future Minimum Principal and Interest Payments Under Term Loans (Details)
$ in Thousands
Sep. 30, 2021
USD ($)
Debt Disclosure [Abstract]  
2021 $ 1,625
2022 5,720
2023 5,918
2024 21,040
2025 50,912
2026 62,705
Total principal and interest payments 147,920
Less interest, PIK interest and final payment fee (47,920)
Total term loan aggregate principal amount $ 100,000