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Debt - Credit Facility (Details) - USD ($)
1 Months Ended 12 Months Ended
Jun. 30, 2020
Jul. 31, 2020
Aug. 31, 2019
Dec. 31, 2022
Dec. 31, 2021
May 31, 2017
Debt            
Other income (expense)       $ 190,000 $ (141,000)  
2017 Credit Facility            
Debt            
Debt amount           $ 12,000,000.0
Outstanding balance     $ 8,000,000.0      
2019 Credit Facility | Prime Rate            
Debt            
Effective interest rate       6.75%    
2019 Credit Facility - Revolving Line Of Credit            
Debt            
Loan agreement amount   $ 5,000,000.0        
Agreement term   2 years        
Effective interest rate 6.75% 4.75%   9.36%    
Commitment fee (as a percentage)     1.60%      
Termination fee (as a percentage)     1.00%      
Unused facility fee (as a percentage)   0.125%        
Remaining availability       $ 4,000,000.0    
Outstanding balance       $ 1,000,000.0    
2019 Credit Facility - Revolving Line Of Credit | Minimum            
Debt            
Effective interest rate       9.00%    
2019 Credit Facility - Revolving Line Of Credit | Prime Rate            
Debt            
Interest rate, basis spread percentage   1.50%        
2019 Credit Facility - Revolving Line Of Credit | Prime Rate | Minimum            
Debt            
Effective interest rate   4.75%        
2019 Credit Facility - Term Loan            
Debt            
End-of-term fee (as a percent)   7.00%        
Agreement term   46 months        
Effective interest rate 4.75% 3.75%   6.94%    
Prepayment fee (as a percentage)   2.00%        
Debt amount   $ 6,000,000.0        
Number of months of interest only payment 12 months 16 months        
Number of months of equal principal payments   30 months        
Amount of principal payments   $ 200,000        
Outstanding balance       $ 1,600,000    
2019 Credit Facility - Term Loan | Prime Rate            
Debt            
Interest rate, negative basis spread percentage   0.75%        
Effective interest rate   3.75%