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Long-term Debt - OrbiMed Term Loan (related party) (Details)
9 Months Ended
Sep. 30, 2021
USD ($)
tranche
Sep. 30, 2020
USD ($)
Nov. 30, 2018
USD ($)
OrbiMed Term Loans (related party)      
Debt      
Number of Tranches | tranche 2    
Minimum Cash Balance $ 2,000,000.0    
Interest due to unpaid obligation 3.00%    
Interest Rate (as a percent) 9.75%   7.75%
Number of Installment 60 months    
Exit fee (as a percent) 10.00%    
Administration Fees $ 10,000    
Debt issuance costs 300,000    
End of term charge 3,000,000.0    
Interest Expenses 2,700,000 $ 2,700,000  
Amortization of debt issuance costs $ 500,000 $ 400,000  
OrbiMed Term Loans (related party) | Prior to second anniversary      
Debt      
Percentage of prepayment penalty on prepaid principal amount 10.00%    
OrbiMed Term Loans (related party) | After second anniversary but prior to third anniversary      
Debt      
Percentage of prepayment penalty on prepaid principal amount 5.00%    
OrbiMed Term Loans (related party) | After third anniversary      
Debt      
Percentage of prepayment penalty on prepaid principal amount 2.50%    
OrbiMed Term Loans (related party) | LIBOR      
Debt      
Variable Interest Rate (as a percent) 2.00%    
OrbiMed Term Loans (related party) | Maximum      
Debt      
Debt Amount $ 35,000,000.0    
Tranche One      
Debt      
Debt Amount 30,000,000.0   $ 30,000,000.0
Tranche Two      
Debt      
Debt Amount $ 5,000,000.0