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Loan and Security Agreement - Schedule of Future Principal Debt Payment (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Debt Disclosure [Abstract]    
2024 $ 3,427  
2025 14,588  
2026 11,985  
Total principal payments 30,000  
Plus: Final payment fee 1,800  
Less: unamortized debt discount and final fee (1,855)  
Total debt 29,945  
Less: current portion of long-term debt (1,110)  
Long-term debt, net $ 28,835 $ 29,290