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Long-term Debt - Narrative (Details)
1 Months Ended 3 Months Ended 6 Months Ended
Mar. 31, 2020
USD ($)
shares
Aug. 31, 2019
USD ($)
installment
tranche
$ / shares
shares
Dec. 31, 2016
USD ($)
$ / shares
Jun. 30, 2020
USD ($)
Jun. 30, 2019
USD ($)
Jun. 30, 2020
USD ($)
Jun. 30, 2019
USD ($)
Jul. 24, 2017
shares
Debt Instrument [Line Items]                
Proceeds from borrowings, net of issuance costs           $ 5,000,000 $ 0  
Amortization of debt discount       $ 81,000 $ 31,000 125,000 $ 67,000  
Unamortized debt discount       632,000   632,000    
Silicon Valley Bank | Original Agreement                
Debt Instrument [Line Items]                
Proceeds from borrowings, net of issuance costs     $ 5,000,000.0          
Repayments of debt   $ 3,000,000.0            
Prepayment fee (equal to)   75,000            
Silicon Valley Bank | Original Agreement | Common Stock Warrant                
Debt Instrument [Line Items]                
Warrants issued for shares of common stock (in shares) | shares               7,069
Warrants issued, exercise price (in dollars per share) | $ / shares     $ 12.38          
Silicon Valley Bank | Original Agreement | Prime Rate                
Debt Instrument [Line Items]                
Debt instrument variable interest rate     1.75%          
Term Loans                
Debt Instrument [Line Items]                
Debt instrument, total discount recorded       $ 812,000   $ 812,000    
Term Loans | Term Loans, Tranche One | Common Stock Warrant                
Debt Instrument [Line Items]                
Fair value of warrant   $ 60,000            
Term Loans | Term Loans, Tranche Two | Common Stock Warrant                
Debt Instrument [Line Items]                
Fair value of warrant $ 60,000              
Term Loans | Silicon Valley Bank                
Debt Instrument [Line Items]                
Debt instrument variable interest rate   0.25%            
Maximum borrowing capacity, amount   $ 15,000,000.0            
Number of tranches (up to) | tranche   3            
Percentage of default interest rate   4.00%            
New capital milestone for continuation of interest only payment period   $ 40,000,000.0            
Number of equal monthly installments payable | installment   25            
Final payment percentage   5.50%            
Term Loans | Silicon Valley Bank | Common Stock Warrant                
Debt Instrument [Line Items]                
Warrants issued for shares of common stock (in shares) | shares   52,083            
Warrants issued, exercise price (in dollars per share) | $ / shares   $ 4.32            
Number of shares exercisable (in shares) | shares 17,361 17,361            
Term Loans | Silicon Valley Bank | Base Rate                
Debt Instrument [Line Items]                
Debt instrument, interest rate floor   5.75%            
Term Loans | Silicon Valley Bank | Term Loans, Tranche One                
Debt Instrument [Line Items]                
Proceeds from borrowings, net of issuance costs   $ 5,000,000.0            
Term Loans | Silicon Valley Bank | Term Loans, Tranche Two                
Debt Instrument [Line Items]                
Proceeds from borrowings, net of issuance costs $ 5,000,000.0              
Term Loans | Silicon Valley Bank | Term Loans, Tranche Three                
Debt Instrument [Line Items]                
Unused borrowing capacity, expired amount   $ 5,000,000.0            
Debt Instrument, Redemption, Period One | Term Loans | Silicon Valley Bank                
Debt Instrument [Line Items]                
Redemption price, percentage   2.00%            
Debt Instrument, Redemption, Period Two | Term Loans | Silicon Valley Bank                
Debt Instrument [Line Items]                
Redemption price, percentage   1.00%            
Debt Instrument, Redemption, Period Three | Term Loans | Silicon Valley Bank                
Debt Instrument [Line Items]                
Redemption price, percentage   0.00%            
Maximum                
Debt Instrument [Line Items]                
Percentage change in loan in a non-troubled debt restructuring (less than)   0.10