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Term Loan - Schedule of Repayment of Principal Amount (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Debt Disclosure [Abstract]    
Remainder of 2023 $ 0  
2024 0  
2025 10,774  
2026 13,036  
2027 1,190  
Total principal repayments 25,000  
Final payment fee 285  
Total principal repayments and final payment fee 25,285  
Less: unamortized debt discount (648)  
Total term loan, non-current, net $ 24,637 $ 20,192