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Commitments and Contingencies (Tables)
 6 Months Ended
Jun. 30, 2021
Commitments and Contingencies Disclosure [Abstract]  
Schedule of Rent Expense
Rent expense is recognized on a straight-lined basis over the lease term and is included in the condensed consolidated statements of operations for the three and six months ended June 30, 2021 and 2020 as follows:
Three Months Ended
June 30,		Six Months Ended
June 30,
2021202020212020
Research and development$202 $200 $400 $370 
Selling, general, and administrative49 31 87 73 
$251 $231 $487 $443 
Schedule of Future Minimum Lease Payments
The following table summarizes the future minimum lease payments due under operating leases as of June 30, 2021:
2021 (remaining six months)$483 
20221,009 
2023583 
2024316 
2025286 
Thereafter817 
$3,494