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Debt - Short-term line of credit (Details) - USD ($)
12 Months Ended
Oct. 02, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Long-term debt        
Derivative liability   $ 1,135,000 $ 2,017,000  
Interest Expense   8,009,000 8,974,000 $ 10,085,000
Senior Secured Credit Facility        
Long-term debt        
Interest Expense   $ 7,620,000 $ 8,693,000 $ 9,882,000
Revolving Credit Facility        
Long-term debt        
Borrowing availability against eligible accounts receivable (as a percent) 85.00%      
Loan Agreement        
Long-term debt        
Covenant compliance   As of December 31, 2019, the Company was in compliance with the covenants under the Loan Agreement    
Loan Agreement | Senior Secured Credit Facility        
Long-term debt        
Derivative liability $ 69,000 $ 66,000    
Loan Agreement | Revolving Credit Facility        
Long-term debt        
Line of Credit Facility, Initiation Date Oct. 02, 2019      
Maximum borrowing capacity as per agreement $ 25,000,000      
Unused line fee (as a percent) 0.50%      
Line of credit, maturity date May 11, 2022      
Interest Expense   184,000    
Financing costs   $ 1,300,000    
Debt instrument interest percentage   6.56%    
Amortization of Financing Costs   $ 116,000    
Short-term line of credit outstanding   0    
Line of Credit Facility Remaining Borrowing Capacity   17,100,000    
Loan Agreement | Revolving Credit Facility | Other Noncurrent Assets        
Long-term debt        
Unamortized costs   $ 1,200,000    
Loan Agreement | Short Term Swingline Loan        
Long-term debt        
Maximum borrowing capacity as per agreement $ 2,500,000      
Prepayment occurs on or before October 2, 2020 | Revolving Credit Facility        
Long-term debt        
Prepayment fee 2.00%      
Prepayment occurs after October 2, 2020 but before October 2, 2021 | Revolving Credit Facility        
Long-term debt        
Prepayment fee 1.00%      
Prepayment occurs after October 2, 2021 but before May 11, 2022 | Revolving Credit Facility        
Long-term debt        
Prepayment fee 0.50%      
One Month Libor Rate | Revolving Credit Facility        
Long-term debt        
Interest rate 4.50%