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Debt - Squadron Medical Credit Agreement (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Aug. 10, 2021
Dec. 16, 2020
Nov. 06, 2018
Dec. 31, 2021
Dec. 31, 2020
Line Of Credit Facility [Line Items]          
Issuance of common stock       99,627,000 82,294,000
Gain (loss) on debt extinguishment       $ (7,434) $ (7,612)
Number of warrants outstanding       20,184,000  
Squadron Medical Term Loan          
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      
New debt issuance costs   30,000      
Gain (loss) on debt extinguishment     $ (6,100) $ (11,700)  
Debt instrument capitalized non-cash costs     $ 3,800    
Repaid of outstanding principal $ 45,000        
Accrued interest $ 200        
Squadron Medical Term Loan | Common Stock | Participant Lender          
Line Of Credit Facility [Line Items]          
Number of warrants outstanding       6,759,530  
Squadron Medical Term Loan | Term Loan          
Line Of Credit Facility [Line Items]          
Additional line of credit   $ 15,000      
Debt instrument, maturity date   Jun. 30, 2026      
Secured debt agreement   $ 30,000