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Debt - Vectra Bank Colorado Loan Agreements - Additional Information (Details) - USD ($)
12 Months Ended
Nov. 10, 2022
Mar. 24, 2022
Mar. 27, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Line Of Credit Facility [Line Items]            
Total debt issuance costs       $ 2,749,000 $ 2,616,000  
Amortization of debt issuance costs       599,000 576,000 $ 134,000
Vectra Loan Agreement            
Line Of Credit Facility [Line Items]            
Maturity date     Sep. 30, 2020      
Maturity extended date     Oct. 05, 2023      
Interest rate     3.00%      
Vectra Loan Agreement | 2020 Term Loan            
Line Of Credit Facility [Line Items]            
Principal amount     $ 6,802,000      
Secured Term Loan Facility            
Line Of Credit Facility [Line Items]            
Principal amount   $ 16,000,000        
Maturity date   Mar. 24, 2037        
Debt, frequency of payment   monthly        
Amortization of debt issuance costs       13,000 $ 0 $ 0
Threshold amount of operating cash flow to calculate liquidity ratio $ 0          
Threshold Amount of Operating Cash Flow to Calculate Fixed Charge Coverage Ratio $ 0          
Secured Term Loan Facility | SOFR            
Line Of Credit Facility [Line Items]            
Variable interest rate   1.75%        
2020 Revolving Loan | 2020 Term Loan            
Line Of Credit Facility [Line Items]            
Total borrowing capacity     $ 15,000,000      
Zions Facility            
Line Of Credit Facility [Line Items]            
Total debt issuance costs       $ 236,000