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Debt and Notes Payable (Details)
6 Months Ended
Jun. 25, 2019
USD ($)
Jun. 30, 2017
USD ($)
Dec. 31, 2020
USD ($)
Jun. 30, 2020
USD ($)
Jun. 30, 2019
USD ($)
Apr. 01, 2021
USD ($)
Jan. 01, 2021
USD ($)
Jul. 01, 2020
USD ($)
Apr. 17, 2020
USD ($)
payment
Dec. 13, 2018
USD ($)
Jan. 06, 2017
USD ($)
Credit facility                      
Loss on extinguishment of debt       $ 0 $ (1,085,000)            
Paycheck Protection Program Note                      
Credit facility                      
Interest rate stated percentage                 1.00%    
Debt instrument principal                 $ 4,700,000    
Number of payments | payment                 1    
2017 Secured Loan Agreement | Term loan                      
Credit facility                      
Principal amount                   $ 30,000,000  
Additional interest rate if event of default occurs (as a percent) 5.00%                    
2017 Secured Loan Agreement | Term loan | Oxford Term Loan                      
Credit facility                      
Amount drawn down   $ 15,000,000                  
Loss on extinguishment of debt $ (1,100,000)                    
2017 Secured Loan Agreement | Term loan | Oxford Term Loan B                      
Credit facility                      
Maximum borrowing capacity                     $ 15,000,000
2019 Secured Loan Agreement | Term loan                      
Credit facility                      
Maximum borrowing capacity $ 30,000,000                    
Margin rate (as a percent) 3.75%                    
Effective interest rate       9.25%              
Final payment, percent of amount of loans advanced 5.00%                    
Credit facility term 4 years                    
Interest rate stated percentage 2.50%                    
Event of default, threshold amount $ 500,000                    
2019 Secured Loan Agreement | Term loan | Prime Rate                      
Credit facility                      
Margin rate (as a percent) 5.50%                    
2019 Secured Loan Agreement | Revolving Credit Facility                      
Credit facility                      
Maximum borrowing capacity $ 10,000,000                    
Principal amount       $ 0              
Margin rate (as a percent) 0.50%                    
Percent of eligible accounts subject to maximum 2.50% dilution 85.00%                    
2019 Secured Loan Agreement | Revolving Credit Facility | Prime Rate                      
Credit facility                      
Margin rate (as a percent) 5.50%                    
Minimum | 2017 Secured Loan Agreement | Term loan | Oxford Term Loan                      
Credit facility                      
Cash collateral requirement                   $ 5,000,000  
Minimum | 2019 Secured Loan Agreement | Term loan                      
Credit facility                      
Event of default, threshold amount $ 250,000                    
Subsequent Event | 2019 Secured Loan Agreement | Term loan                      
Credit facility                      
Minimum cash on hand               $ 5,000,000      
Forecast | Subsequent Event | 2019 Secured Loan Agreement | Term loan                      
Credit facility                      
Minimum cash on hand             $ 10,000,000        
Minimum gross cash proceeds     $ 20,000,000.0                
Maximum outstanding indebtedness           $ 5,000,000.0 $ 2,500,000.0