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Debt - Narrative (Details)
1 Months Ended 3 Months Ended 12 Months Ended
Jul. 31, 2019
USD ($)
Apr. 30, 2017
USD ($)
Aug. 31, 2015
USD ($)
payment
$ / shares
shares
Feb. 28, 2015
USD ($)
payment
$ / shares
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2018
USD ($)
shares
Dec. 31, 2017
USD ($)
shares
Apr. 30, 2015
USD ($)
Sep. 30, 2014
USD ($)
Debt Instrument [Line Items]                    
Debt instrument face amount                 $ 5,000,000.0 $ 4,000,000.0
Proceeds from bank debt     $ 5,000,000.0 $ 1,000,000.0            
Number of monthly payments | payment     36 36            
Repayments on long-term debt   $ 3,600,000       $ 0 $ 0 $ 4,306,000    
Interest rate               0.25%    
Warrants issued as percentage of loan advance       1.00%            
Warrants exercised (in shares) | shares     62,500 27,777 90,277 90,000 0 361,425    
Exercise price (in dollars per share) | $ / shares     $ 0.80 $ 0.36            
Amortization of debt discount               $ 20,000    
Revolving Credit Facility | Line of Credit                    
Debt Instrument [Line Items]                    
Aggregate principal amount of secured revolving loan facility $ 30,000,000.0                  
Floor interest rate 5.25%                  
Loans outstanding         $ 0 $ 0        
Revolving Credit Facility | Line of Credit | Prime Rate                    
Debt Instrument [Line Items]                    
Floating interest rate 0.25%                  
Maximum | Revolving Credit Facility | Line of Credit                    
Debt Instrument [Line Items]                    
Debt instrument fee (less than)         $ 100,000 $ 100,000