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Term Loan (Details)
1 Months Ended
May 03, 2019
USD ($)
Apr. 09, 2019
USD ($)
Jun. 22, 2016
USD ($)
Jun. 17, 2016
USD ($)
loan
number_of_payment
Mar. 31, 2019
USD ($)
Nov. 30, 2018
USD ($)
Dec. 31, 2019
USD ($)
May 07, 2019
USD ($)
Nov. 05, 2018
USD ($)
Mar. 31, 2017
USD ($)
Debt Instrument [Line Items]                    
Upfront payment received         $ 1,800,000 $ 2,500,000        
Debt Financing Agreement Tranche A                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 20,000,000.0            
Proceeds from borrowing under term loan     $ 20,000,000              
Long-term debt             $ 14,681,000      
Debt Financing Agreement Tranche B                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       10,000,000.0            
Long-term line of credit                   $ 0
Fourth Amendment                    
Debt Instrument [Line Items]                    
Prepayment requirement of loan from license fees                 25.00%  
Expected revenue through milestone payments                 $ 10,000,000  
Prepayment required for loan         $ 400,000 $ 600,000        
Payment fee                 5.50%  
Seventh Amendment                    
Debt Instrument [Line Items]                    
Minimum cash, debt covenant   $ 10,000,000                
Debt covenant, cash amount, condition one   10,000,000                
Debt covenant, cash amount, condition two   5,000,000                
Eight Amendment                    
Debt Instrument [Line Items]                    
Minimum cash, debt covenant               $ 20,000,000    
Interest only payment fee $ 100,000                  
Maturity extension fee $ 700,000                  
Eight Amendment - Milestone Payment                    
Debt Instrument [Line Items]                    
Minimum cash, debt covenant   $ 10,000,000                
Debt Financing Agreement                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity       $ 30,000,000.0            
Number of term loans | loan       2            
Stated interest rate, percentage       8.51%            
Number of monthly payments | number_of_payment       24            
Long-term debt             14,700,000      
Fee amount             1,900,000      
Deferred finance costs             $ 100,000      
Debt instrument effective rate             8.98%      
Debt Financing Agreement | London Interbank Offered Rate (LIBOR)                    
Debt Instrument [Line Items]                    
Basis spread on variable rate, percentage       0.44%            
Minimum | Seventh Amendment                    
Debt Instrument [Line Items]                    
Prepayment requirement of loan from license fees   25.00%                
Prepayment required for loan   $ 5,000,000                
Minimum | Eight Amendment                    
Debt Instrument [Line Items]                    
Prepayment requirement of loan from license fees   75.00%                
Maximum | Seventh Amendment                    
Debt Instrument [Line Items]                    
Prepayment requirement of loan from license fees   75.00%                
Maximum | Eight Amendment                    
Debt Instrument [Line Items]                    
Prepayment requirement of loan from license fees   100.00%