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Commitments and Contingencies (Tables)
 9 Months Ended
Sep. 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 nine months ended September 30, 2021 and 2020 as follows:
Three Months Ended
September 30,		Nine Months Ended
September 30,
2021202020212020
Research and development$219 $211 $619 $581 
Selling, general, and administrative49 22 136 95 
$268 $233 $755 $676 
Schedule of Future Minimum Lease Payments
The following table summarizes the future minimum lease payments due under operating leases as of September 30, 2021:
2021 (remaining three months)$287 
20221,074 
2023637 
2024315 
2025286 
Thereafter817 
$3,416