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Debt (Details)
$ in Millions
1 Months Ended
Mar. 30, 2020
Jul. 31, 2021
USD ($)
Mar. 31, 2020
USD ($)
installment
shares
Jun. 30, 2021
USD ($)
Jan. 31, 2021
shares
Dec. 31, 2020
USD ($)
SVB            
Debt Instrument [Line Items]            
Common stock warrants | shares     460,251   388,119  
Term Loan Facility            
Debt Instrument [Line Items]            
Loan borrowed     $ 11.0      
Number of consecutive monthly installments | installment     24      
Annual interest rate     6.75%      
Final payment fee percentage     5.00%      
Term Loan Facility | SVB            
Debt Instrument [Line Items]            
Loan borrowed       $ 11.0   $ 11.0
Term Loan Facility | SVB | Subsequent event            
Debt Instrument [Line Items]            
Loan borrowed   $ 11.0        
Loan repaid   $ 11.7        
Term Loan Facility | Prepayment prior to the first anniversary of the Funding Date            
Debt Instrument [Line Items]            
Prepayment fee percentage 3.00%          
Term Loan Facility | Prepayment between the first and second anniversaries of the Funding Date            
Debt Instrument [Line Items]            
Prepayment fee percentage 2.00%          
Term Loan Facility | Prepayment after the second anniversary of the Funding Date but before March 1, 2024            
Debt Instrument [Line Items]            
Prepayment fee percentage 1.00%          
Term Loan Facility | Prime Rate            
Debt Instrument [Line Items]            
Basis spread over LIBOR     2.00%