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Long-Term Debt, Net, and Other Borrowings (Details) - USD ($)
3 Months Ended 6 Months Ended
Mar. 31, 2021
Jun. 30, 2021
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Debt Instrument [Line Items]          
Remainder of 2021   $ 5,000,000 $ 5,000,000    
2022   11,250,000 11,250,000    
2023   15,000,000 15,000,000    
2024   148,750,000 148,750,000    
Total principal outstanding   180,000,000 180,000,000    
Unamortized debt discount   (598,000) (598,000)    
Unamortized debt issuance costs   (516,000) (516,000)    
Finance lease liabilities   735,000 735,000    
Total   179,621,000 179,621,000    
Less: current portion   (10,372,000) (10,372,000)    
Total long-term debt, net and other borrowings   $ 169,249,000 169,249,000   $ 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   2.40% 2.40%    
Royalty-Backed Loan          
Debt Instrument [Line Items]          
Debt instrument face amount $ 50,000,000.0        
Extinguishment of debt 30,900,000        
Prepayment of debt 500,000        
Gain on extinguishment of debt $ 900,000