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Debt - Squadron Medical Credit Agreement (Details) - USD ($)
6 Months Ended
Dec. 16, 2020
Nov. 06, 2018
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
May 29, 2020
Mar. 27, 2019
Line Of Credit Facility [Line Items]              
Issuance of common stock     100,184,000   82,294,000    
Number of warrants outstanding     20,525,288        
Loss on debt extinguishment       $ (1,555,000)      
Squadron Medical Credit Agreement              
Line Of Credit Facility [Line Items]              
Issuance of common stock 2,700,270            
Common stock price per share $ 11.11            
Additional debt issuance costs $ 3,800,000   $ 11,900,000        
Principal outstanding under term loan     45,000,000.0        
Additional borrowing capacity     40,000,000.0        
New debt issuance costs 30,000,000.0            
Loss on debt extinguishment   $ 6,100,000          
Debt instrument capitalized non-cash costs   $ 3,800,000          
Debt carrying amount, net of issuance cost     33,100,000        
Debt issuance costs 3,800,000   $ 11,900,000        
Squadron Medical Credit Agreement | Common Stock | Participant Lender              
Line Of Credit Facility [Line Items]              
Number of warrants issued (in shares)   845,000         4,838,710
Exercise price of warrants   $ 3.15       $ 4.88 $ 2.17
Additional warrants issued           1,075,820  
Number of warrants outstanding     6,759,530        
Squadron Medical Credit Agreement | Term Loan              
Line Of Credit Facility [Line Items]              
Secured debt agreement $ 30,000,000.0            
Squadron Medical Credit Agreement | Line of Credit              
Line Of Credit Facility [Line Items]              
Floor on interest rate   9.00%          
Ceiling on interest rate   12.00%          
Payment terms     Interest-only payments are due monthly until December 2023 and joined by $1.0 million monthly principal payments beginning December 2023. Any remaining principal amounts of the term loan will be due on June 30, 2026.        
Debt instrument, monthly principal payments   $ 1,000,000.0          
Line of credit, unused capacity, commitment fee percentage   1.00%          
Squadron Medical Credit Agreement | Line of Credit | London Interbank Offered Rate (LIBOR)              
Line Of Credit Facility [Line Items]              
Interest rate description   LIBOR plus 8.0          
Basis spread   8.00%