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Loans and Security Agreement - Narrative (Details) - Term loan - USD ($)
3 Months Ended 6 Months Ended
Mar. 16, 2020
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
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   $ 600,000 $ 600,000 $ 1,200,000 $ 600,000  
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   21,100,000   21,100,000    
Unamortized issuance costs and unaccreted discount   $ 1,400,000   $ 1,400,000    
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