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Debt - Term Loan (Details)
1 Months Ended 3 Months Ended 12 Months Ended
Jan. 28, 2019
USD ($)
Jul. 31, 2018
USD ($)
$ / shares
shares
Jul. 31, 2017
USD ($)
Dec. 31, 2018
USD ($)
tranche
$ / shares
shares
Sep. 30, 2018
USD ($)
Jun. 30, 2018
USD ($)
Mar. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Sep. 30, 2017
USD ($)
Jun. 30, 2017
USD ($)
Mar. 31, 2017
USD ($)
Dec. 31, 2018
USD ($)
tranche
$ / shares
shares
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Debt                            
Purchase of additional common stock through warrants | shares       993,204               993,204    
Term of warrants       5 years               5 years    
Exercise price of warrant | $ / shares       $ 10.40               $ 10.40    
Interest (expense) income       $ (178,000) $ (172,000) $ (144,000) $ (160,000) $ (179,000) $ (132,000) $ 13,000 $ 12,000 $ (654,000) $ (286,000) $ 114,000
Outstanding borrowings               $ 8,683,000         8,683,000  
Risk Free Interest Rate                            
Debt                            
Warrant measurement   2.96   2.0               2.0    
Price Volatility                            
Debt                            
Warrant measurement   66   65.1               65.1    
Expected Term                            
Debt                            
Term of warrants   10 years   5 years               5 years    
Expected Dividend Rate                            
Debt                            
Warrant measurement   0   0               0    
Minimum                            
Debt                            
Interest rate (as a percentage)       4.50%               4.50%    
Debt issue costs       $ 4.25               $ 4.25    
Maximum                            
Debt                            
Interest rate (as a percentage)       5.50%               5.50%    
Debt issue costs       $ 4.5               $ 4.5    
Term Loan                            
Debt                            
Principal amount       $ 15,000,000               $ 15,000,000    
Number of tranches | tranche       3               3    
Interest rate (as a percentage)       5.00%               5.00%    
Cash security (as a percentage)                       100.00%    
Unrestricted cash       $ 18,000,000               $ 18,000,000    
Debt discount amortized as interest expenses     $ 100,000                      
Interest (expense) income   $ 33,000                   500,000 $ 300,000  
Term Loan | Subsequent Event                            
Debt                            
Debt discount amortized as interest expenses $ 800,000                          
Outstanding borrowings $ 8,900,000                          
Term Loan | SVB                            
Debt                            
Final payment fee (as a percentage) 10.00%                          
Success fee (as a percentage) 3.50%                          
Purchase of additional common stock through warrants | shares   36,000                        
Term of warrants   10 years                        
Exercise price of warrant | $ / shares   $ 7.47                        
Additional paid in capital upon issuance with offset of loan discount   $ 200,000                        
Term Loan | SVB | Subsequent Event                            
Debt                            
Debt issue costs $ 1,000,000                          
Initial Tranche                            
Debt                            
Principal amount       10,000,000               10,000,000    
Debt discount amortized as interest expenses                       2,000    
Legal fees incurred                       20,000    
Initial Tranche | SVB                            
Debt                            
Fee recorded as discount                       10,000    
Third Tranche Available Through November 2018                            
Debt                            
Principal amount       $ 5,000,000               $ 5,000,000