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Long-Term Debt, Net, and Other Borrowings (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Debt Instrument [Line Items]        
Remainder of 2021 $ 7,500,000 $ 7,500,000    
2022 11,250,000 11,250,000    
2023 15,000,000 15,000,000    
2024 148,750,000 148,750,000    
Total principal outstanding 182,500,000 182,500,000    
Unamortized debt discount (647,000) (647,000)    
Unamortized debt issuance costs (559,000) (559,000)    
Finance lease liabilities 431,000 431,000    
Total 181,725,000 181,725,000    
Less: current portion (10,251,000) (10,251,000)   $ (20,701,000)
Total long-term debt, net and other borrowings $ 171,474,000 171,474,000   $ 197,699,000
Gain on extinguishment of debt   $ 889,000 $ 0  
2019 Term Loan Facility        
Debt Instrument [Line Items]        
Debt instrument term   5 years    
Interest rate 3.40% 3.40%    
Royalty-Backed Loan        
Debt Instrument [Line Items]        
Debt instrument face amount $ 50,000,000.0 $ 50,000,000.0    
Extinguishment of debt 30,900,000      
Prepayment of debt 500,000      
Gain on extinguishment of debt $ 900,000