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Debt - Summary of Future Principal Payments under Financing Agreement (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]          
2022     $ 5,000 $ 5,000  
2023     41,250 10,000  
2024       $ 41,250  
Debt, net     $ 185,261   $ 237,698
Forecast          
Debt Instrument [Line Items]          
2022 $ 10,000 $ 5,000      
2023 41,250 $ 41,250      
2022 25,000        
2023 133,750        
2024 41,250        
Debt, net $ 200,000