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Term Loan - Additional Information (Details) - SLR Investment Corp. and Silicon Valley Bank - USD ($)
1 Months Ended 3 Months Ended
Sep. 30, 2019
Mar. 31, 2022
Mar. 31, 2021
May 31, 2017
2017 Loan Agreement        
Debt Instrument [Line Items]        
Unpaid borrowings       $ 10,000,000.0
2019 Loan Agreement        
Debt Instrument [Line Items]        
Loan agreement, maturity date Sep. 17, 2023      
Debt instrument, interest rate terms   The interest rate under the 2019 Loan Agreement is the higher of (i) LIBOR plus 7.95% or (ii) 10.18%    
Debt instrument, effective interest rate   10.18%    
Exit fee, percentage   4.00%    
Exit fee   $ 800,000    
Unpaid borrowings $ 20,000,000.0 15,000,000    
Amortization of debt discount   $ 80,000 $ 87,000  
Prepayment premium percentage after year two   0.50%    
Final payment fee   $ 500,000    
Amortization of final payment fee   $ 34,000 $ 40,000  
Increase in interest rate on default   5.00%    
2019 Loan Agreement | Minimum        
Debt Instrument [Line Items]        
Interest rate, minimum   10.18%    
Prepayment premium percentage two   0.01    
2019 Loan Agreement | Maximum        
Debt Instrument [Line Items]        
Prepayment premium percentage one   0.03    
2019 Loan Agreement | Libor        
Debt Instrument [Line Items]        
Basis spread on variable base rate   7.95%