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Loans and Security Agreement - Narrative (Details) - Term loan - USD ($)
3 Months Ended
Mar. 16, 2020
Mar. 31, 2021
Mar. 31, 2020
Term loan      
Debt Instrument [Line Items]      
Aggregate principal amount     $ 35,000,000.0
Interest rate, base percentage 4.75%    
Interest rate, additional percentage added to base percentage 4.00%    
Initial interest rate percentage 8.75%    
Effective interest rate 10.90%    
Option to add interest rate amount to outstanding principal balance in lieu of paying such amount in cash, percentage 1.00%    
Interest expense   $ 500,000 $ 100,000
Calculation for number of shares of common stock able to be purchased by warrant, percentage of principal amount of relevant term loan funded funded 3.50%    
Warrant exercise price calculation, period immediately preceding execution of loan agreement, number of trading days 5 days    
Outstanding balance, net of unamortized issuance costs and unaccreted discount   21,000,000.0  
Unamortized issuance costs and unaccreted discount   $ 1,500,000  
Term loan | Minimum      
Debt Instrument [Line Items]      
Period for which company is entitled to make interest-only payments 30 months    
Term loan | Maximum      
Debt Instrument [Line Items]      
Period for which company is entitled to make interest-only payments 36 months    
Term loan, first tranche      
Debt Instrument [Line Items]      
Aggregate principal amount $ 22,500,000    
Net draw down proceeds 21,200,000    
Closing costs $ 1,300,000    
Exercise price of warrant (in dollars per share) $ 1.65    
Number of shares of common stock for which warrant is exercisable (in shares) 477,273    
Additional debt discount recognized $ 500,000    
Term loan, second and third tranches      
Debt Instrument [Line Items]      
Warrant exercise price calculation, period immediately preceding relevant funding, number of trading days 5 days    
Term loan, second and third tranches | Maximum      
Debt Instrument [Line Items]      
Exercise price of warrant (in dollars per share) $ 1.65    
Term loan, second tranche      
Debt Instrument [Line Items]      
Aggregate principal amount $ 5,000,000.0    
Term loan, third tranche      
Debt Instrument [Line Items]      
Aggregate principal amount $ 7,500,000