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Debt - Additional Information (Details)
1 Months Ended 12 Months Ended
Oct. 23, 2018
USD ($)
Oct. 31, 2018
USD ($)
May 31, 2018
USD ($)
Dec. 31, 2015
USD ($)
Tranche
Nov. 30, 2012
USD ($)
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2016
Aug. 31, 2016
USD ($)
Debt Instrument [Line Items]                    
Repayment of debt           $ 0 $ 31,500,000 $ 0    
Loss in connection with early extinguishment of debt           0 3,029,000 0    
Proceeds from long-term debt, net of issuance costs           $ 0 $ 35,000,000 $ 0    
Debt, Weighted Average Interest Rate           4.58% 4.50%      
Pharmakon Loan Agreement                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 55,000,000.0            
Number of Tranches | Tranche       2            
Loss in connection with early extinguishment of debt $ 3,000,000.0                  
Prepayment premium fee 1,000,000.0                  
Additional consideration for prepayment of debt 1,500,000                  
Repayment of debt   $ 35,800,000                
Pharmakon Loan Agreement | Silicon Valley Bank                    
Debt Instrument [Line Items]                    
Repayment of debt       $ 4,900,000            
Pharmakon Loan Agreement | Tranche A Loans                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 30,000,000.0            
Debt instrument, fixed interest rate (in percentage)                 9.50%  
Debt instrument, periodic payment           quarterly        
Debt instrument, interest due and payable (in percentage)       50.00%            
Repayment of debt 30,000,000.0                  
Payment of accrued interest on debt $ 3,300,000                  
Pharmakon Loan Agreement | Tranche B Loans                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 25,000,000.0            
SVB Loan Agreement                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 15,000,000.0            
SVB Loan Agreement | Maximum                    
Debt Instrument [Line Items]                    
Percentage of eligible accounts receivable for borrowings (in percentage)       80.00%            
SVB Loan Agreement | Prime Rate                    
Debt Instrument [Line Items]                    
Debt instrument interest rate spread (in percentage)       0.25%            
SVB Loan Agreement | Standby Letters of Credit                    
Debt Instrument [Line Items]                    
Line of credit                   $ 3,100,000
Third Amended and Restated SVB Loan Agreement | Standby Letters of Credit                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   11,000,000.0                
Proceeds from line of credit   6,900,000                
Third Amended and Restated SVB Loan Agreement | SVB Term Loan                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   $ 35,000,000.0                
Number of monthly payments of principal and interest   36 months                
Third Amended and Restated SVB Loan Agreement | SVB Term Loan | Minimum                    
Debt Instrument [Line Items]                    
Debt instrument, interest rate (in percentage)   4.25%                
Third Amended and Restated SVB Loan Agreement | SVB Term Loan | Prime Rate                    
Debt Instrument [Line Items]                    
Basis spread deduction on variable rate (in percentage)   0.75%                
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   $ 25,000,000.0                
Line of credit           $ 0        
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility | Maximum                    
Debt Instrument [Line Items]                    
Percentage of eligible accounts receivable for borrowings (in percentage)   75.00%                
Credit facility borrowing capacity           $ 5,600,000        
Third Amended and Restated SVB Loan Agreement | Revolving Credit Facility | Minimum                    
Debt Instrument [Line Items]                    
Debt instrument, interest rate (in percentage)   5.00%                
CHCF Note                    
Debt Instrument [Line Items]                    
Repayment of debt     $ 1,500,000              
Payment of accrued interest on debt     $ 200,000              
Proceeds from long-term debt, net of issuance costs         $ 1,500,000          
Debt instrument accrues simple interest rate         2.00%          
CHCF Note | Series D Convertible Preferred Stock                    
Debt Instrument [Line Items]                    
Warrants issued to purchase shares (in shares) | shares         22,807