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Loans and Security Agreement - Narrative (Details) - Term loan
3 Months Ended 9 Months Ended
Sep. 24, 2021
USD ($)
installment
Mar. 16, 2020
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Term loan              
Debt Instrument [Line Items]              
Aggregate principal amount $ 7,500,000           $ 35,000,000
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   11.30%          
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 $ 700,000 $ 1,800,000 $ 1,300,000  
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          
Number of monthly installments | installment 10            
Prepayment premium percentage 5.00%            
Minimum liquidity floor $ 5,000,000            
Minimum principal amount pursuant to liquidity covenant $ 15,000,000            
Outstanding balance, net of unamortized issuance costs and unaccreted discount     21,200,000   21,200,000    
Unamortized issuance costs and unaccreted discount     $ 1,300,000   $ 1,300,000    
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) | $ / shares   $ 1.65          
Number of shares of common stock for which warrant is exercisable (in shares) | 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) | $ / shares   $ 1.65          
Term loan, second tranche              
Debt Instrument [Line Items]              
Aggregate principal amount   $ 5,000,000          
Term loan, third tranche              
Debt Instrument [Line Items]              
Aggregate principal amount   $ 7,500,000