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Debt - Credit Facility (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended
Aug. 05, 2019
Jul. 31, 2020
Aug. 31, 2019
Sep. 30, 2020
Jun. 30, 2020
Sep. 30, 2020
Jul. 15, 2020
Dec. 31, 2019
Jul. 31, 2019
Debt                  
Common stock, par value       $ 0.0001   $ 0.0001 $ 0.01 $ 0.0001  
Outstanding balance       $ 2,000   $ 2,000      
2017 Credit Facility                  
Debt                  
Repayment of credit facility     $ 800            
Principal amount                 $ 8,000
2019 Credit Facility                  
Debt                  
Number of shares the warrant can be converted to 9,375           21,500    
Warrant exercise price $ 8.91                
Amount bank could receive if takes the option to put the warrants upon expiration or a liquidity event $ 50                
Fair value of warrants             $ 152    
Principal amount       8,420   8,420   $ 8,420  
2019 Credit Facility | Other (expense) income                  
Debt                  
Change in fair value of warrants       $ 5   $ 2      
2019 Credit Facility | Prime Rate                  
Debt                  
Effective interest rate       3.75%   3.75%      
2019 Credit Facility - Revolving Line Of Credit                  
Debt                  
Loan agreement amount     $ 5,000            
Agreement term     2 years            
Interest rate, basis spread percentage     1.50%            
Effective interest rate   4.75%   10.18% 6.75% 10.18%      
Commitment fee (as a percentage)     1.60%            
Termination fee (as a percentage)     1.00%            
Unused facility fee (as a percentage)     0.125%            
Debt amount     $ 2,000            
Remaining availability     $ 3,000            
2019 Credit Facility - Revolving Line Of Credit | Prime Rate | Minimum                  
Debt                  
Interest rate, basis spread percentage     4.75%            
Effective interest rate       4.75%   4.75%      
2019 Credit Facility - Term Loan                  
Debt                  
End-of-term fee (as a percent)     7.00%            
Agreement term     46 months            
Effective interest rate   3.75%   7.61% 4.75% 7.61%      
Prepayment fee (as a percentage)     2.00%            
Debt amount     $ 6,000            
Number of months of interest only payment   16 months 16 months   12 months        
Number of months of equal principal payments plus accrued interest     30 months            
Outstanding balance       $ 6,000   $ 6,000      
2019 Credit Facility - Term Loan | Prime Rate                  
Debt                  
Interest rate, negative basis spread percentage     0.75%            
Effective interest rate     3.75%