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Long-Term Debt - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Nov. 30, 2018
Oct. 31, 2018
Mar. 31, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jun. 30, 2019
Jan. 31, 2018
Oct. 31, 2015
Apr. 30, 2014
Line of Credit Facility [Line Items]                    
Loss on extinguishment of debt       $ 0 $ (842,000) $ 0        
Unamortized Debt Issuance Expense       2,642,000 2,004,000          
Debt Instrument, Unamortized Discount       2,600,000 2,000,000          
Minimum Liquidity Covenant Amount   $ 2,000,000                
Class Of Warrant Or Right, Number Of Securities Called By Warrants Or Rights, Future Draw, Percentage Of Diluted Shares Outstanding   0.30%                
Term Loan Agreement                    
Line of Credit Facility [Line Items]                    
Line of Credit Facility, Maximum Borrowing Capacity   $ 100,000,000               $ 45,000,000.0
Proceeds from (Repayments of) Debt   7,800,000                
Long-term Debt, Gross   60,000,000   80,000,000            
Repayments of Debt   $ 50,400,000                
Loss on extinguishment of debt       800,000            
Premium on Exercise Price of Additional Warrants, Debt   25.00%                
Warrants Not Settleable in Cash, Fair Value Disclosure   $ 1,600,000         $ 1,000,000      
Percentage of accrue interest   10.50%             12.00%  
Percentage of deferred payment   3.00%             3.00%  
Upfront Debt Fee, Percentage   0.50%                
Credit facility, additional borrowing capacity   $ 20,000,000.0                
Borrowings under term loan agreements       $ 82,600,000 60,400,000          
Percentage of redemption fee   4.00%   3.00%            
Percentage payment up on repayment of principal amount   2.00%                
Long term liability   $ 1,900,000                
Warrants Issued with Debt   341,578   128,932            
Class of Warrant or Right, Exercise Price of Warrants or Rights   $ 21.12   $ 34.20            
Interest expense     $ 6,200,000 $ 8,500,000 7,400,000          
Revolving Credit Facility                    
Line of Credit Facility [Line Items]                    
Interest Expense, Debt         100,000          
Revolving Credit Facility | Secured Revolving Loan Facility                    
Line of Credit Facility [Line Items]                    
Line of Credit Facility, Maximum Borrowing Capacity $ 20,000,000             $ 15,000,000    
Credit facility, outstanding         $ 0          
Debt Instrument, Basis Spread on Variable Rate 4.75%                  
Percentage of accrue interest 8.75%                  
Prime Rate | Revolving Credit Facility | Secured Revolving Loan Facility                    
Line of Credit Facility [Line Items]                    
Debt Instrument, Basis Spread on Variable Rate 0.50%                  
Debt Instrument, Redemption, Period One | Term Loan Agreement                    
Line of Credit Facility [Line Items]                    
Line of Credit Facility, Current Borrowing Capacity             $ 20,000,000      
Debt Instrument, Redemption, Period Two | Term Loan Agreement                    
Line of Credit Facility [Line Items]                    
Credit facility, additional borrowing capacity       $ 20,000,000.0