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Term Loans and Debt - Narrative (Details) - USD ($)
1 Months Ended 12 Months Ended
Sep. 30, 2019
Sep. 30, 2018
May 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2017
Debt Instrument [Line Items]                    
Gain on term loan embedded derivative         $ 2,100,000          
Loss on debt extinguishment       $ (1,742,000) (178,000) $ 0        
Payment of debt arrangement fees   $ 1,100,000                
Payment of debt upfront fees   300,000                
Long-term debt       $ 0            
Term Loan | Line of Credit                    
Debt Instrument [Line Items]                    
Long-term debt         72,722,000          
Term Loan | Line of Credit | Western Technology Investments Loan Facilites                    
Debt Instrument [Line Items]                    
Period for which monthly payments of interest due       24 months            
Period for which monthly payments of interest and principal due       30 months            
Loss on debt extinguishment         $ (17,200,000)          
Term Loan | Line of Credit | First Western Technology Investments Loan Facility                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity                   $ 60,000,000.0
Term Loan | Line of Credit | Second Western Technology Investments Loan Facility                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     $ 15,000,000.0              
Period for which monthly payments of interest due     24 months              
Prepayment covenant period following consummation of IPO     15 days              
Prepayment covenant percentage of interest incurred through the end of 24 months due     50.00%              
Term Loan | Line of Credit | Senior Secured Credit Facility                    
Debt Instrument [Line Items]                    
Aggregate principal amount   75,000,000.0                
Proceeds from issuance of debt   $ 73,600,000                
Loan amortization rate 7.50% 7.50%                
Commitment fee rate   0.40%                
Term Loan | Line of Credit | Senior Secured Credit Facility | Forecast                    
Debt Instrument [Line Items]                    
Loan amortization rate             10.00% 10.00% 10.00%  
Revolving Credit Facility | Line of Credit | Senior Secured Credit Facility                    
Debt Instrument [Line Items]                    
Loss on debt extinguishment       $ (1,700,000)            
Aggregate principal amount   $ 75,000,000.0                
Repayment of debt $ 63,000,000.0                  
Principal balance repaid 62,200,000                  
Accrued interest and fees repaid $ 800,000                  
Revolving Credit Facility | Line of Credit | Senior Secured Credit Facility | LIBOR | Minimum                    
Debt Instrument [Line Items]                    
Basis spread on variable rate   2.25%                
Revolving Credit Facility | Line of Credit | Senior Secured Credit Facility | LIBOR | Maximum                    
Debt Instrument [Line Items]                    
Basis spread on variable rate   2.75%                
Revolving Credit Facility | Line of Credit | Senior Secured Credit Facility | Base Rate | Minimum                    
Debt Instrument [Line Items]                    
Basis spread on variable rate   1.25%                
Revolving Credit Facility | Line of Credit | Senior Secured Credit Facility | Base Rate | Maximum                    
Debt Instrument [Line Items]                    
Basis spread on variable rate   1.75%