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Long-term debt (Details) - USD ($)
$ in Millions
3 Months Ended
Dec. 06, 2018
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2019
2016 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member]        
Long-term Debt        
Outstanding debt $ 20.0      
Back-end fee (as a percent) 4.85%      
2018 Amended Facility | Hercules        
Long-term Debt        
Aggregate amount of Equity Financing   $ 90.0    
Foreign currency loss   $ 0.7 $ 0.7  
2018 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member]        
Long-term Debt        
Outstanding debt $ 35.0      
Interest rate (as a percent) 8.85%      
Back-end fee (as a percent) 4.95%      
Maximum borrowing capacity $ 30.0      
Borrowing capacity subject to discretion 15.0      
Proceeds from loan increment 15.0      
Amount the company has right to draw $ 15.0      
Facility fee (as a percent) 0.50%      
2018 Amended Facility | Prime Rate | Hercules | Second Amended and Restated Loan and Security Agreement [Member]        
Long-term Debt        
Variable interest rate basis 8.85%      
Discount rate (as a percent) 5.50%      
Venture debt loan facility | 2018 Amended Facility        
Long-term Debt        
Minimum cash and cash equivalents in U.S. bank accounts   65.00%    
Assets pledged to secure facilities by directly or indirectly   $ 414.2    
Assets not being pledged to secure facilities by directly or indirectly   136.4    
Aggregate maturities of loan        
Total   36.5   $ 36.3
Venture debt loan facility | 2018 Amended Facility | Hercules        
Long-term Debt        
Interest expense recorded   $ 0.9 $ 0.9