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Loan payable Schedule Term Loans (Details) - USD ($)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Debt Instrument [Line Items]      
Debt Instrument, Fee 20000    
Long-term Debt, Current Maturities $ 0 $ (7,927,000)  
Long-term Debt, Excluding Current Maturities 36,042,000 20,099,000  
Restricted cash 758,000 758,000  
Revolving Credit Facility      
Debt Instrument [Line Items]      
Line of Credit Facility, Maximum Borrowing Capacity $ 5,000,000    
Line of Credit Facility, Interest Rate Description (a) the greater of 1.25% per annum or a base rate as determined by a three-month LIBOR-based formula, plus (b) an applicable margin between 2.95% and 3.95%    
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage 0.75%    
Debt Instrument, Unused Borrowing Capacity, Fee $ 35,000 35,000 $ 42,000
Letter of Credit [Member]      
Debt Instrument [Line Items]      
Letters of Credit Outstanding, Amount 758,000    
Restricted cash 758,000    
Term Loans      
Debt Instrument [Line Items]      
Term Loans, Debt Facility, Maximum Borrowing Capacity $ 35,000,000    
Debt Instrument, Interest Rate Terms a) the greater of 1.00% or the 3-year treasury rate in effect at the time of funding, plus (b) an applicable margin between 4.95% and 5.90% per annum.    
Long-term Debt, Gross $ 42,762,000    
Loans Payable, Final Fee Obligation 3,288,000 2,429,000  
Debt Instrument, Annual Principal Payment 0 (7,762,000)  
Debt Instrument, Unamortized Discount (Premium), Net (2,245,000)    
Long-term Debt 36,042,000 28,026,000  
Long-term Debt, Current Maturities 0 (7,927,000)  
Long-term Debt, Excluding Current Maturities 36,042,000 20,099,000  
Interest Expense, Debt 2,018,000 1,820,000 1,184,000
Amortization of Debt Issuance Costs $ 938,000 1,132,000 $ 298,000
Term Loans | Interest-only period      
Debt Instrument [Line Items]      
Debt Interest only Period End Jan. 01, 2020    
Term Loans | Final Maturity      
Debt Instrument [Line Items]      
Debt Instrument, Maturity Date Jan. 01, 2021    
Unamortized issuance cost [Member]      
Debt Instrument [Line Items]      
Debt Instrument, Unamortized Discount (Premium), Net   (1,641,000)  
Term Loan A      
Debt Instrument [Line Items]      
Long-term Debt $ 7,619,000 10,000,000  
Debt Instrument, Interest Rate, Stated Percentage 6.90%    
Term Loan B      
Debt Instrument [Line Items]      
Long-term Debt $ 7,619,000 10,000,000  
Debt Instrument, Interest Rate, Stated Percentage 6.90%    
Term Loan C      
Debt Instrument [Line Items]      
Long-term Debt $ 12,000,000 15,000,000  
Debt Instrument, Interest Rate, Stated Percentage 7.40%    
Term Loan D [Member]      
Debt Instrument [Line Items]      
Long-term Debt $ 663,000 0  
Term Loan D [Domain]      
Debt Instrument [Line Items]      
Long-term Debt 663,000    
Term Loan E [Member]      
Debt Instrument [Line Items]      
Long-term Debt $ 7,098,000 $ 0