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Indebtedness - Additional Information (Details)
3 Months Ended
Jul. 24, 2020
USD ($)
Sep. 30, 2019
USD ($)
Tranche
Mar. 31, 2021
USD ($)
Mar. 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]          
Interest expense     $ 698,000 $ 295,000  
Loan Agreement | Term Loan | Hercules          
Debt Instrument [Line Items]          
Number of tranches | Tranche   4      
Debt instrument, interest rate terms     Advances under the Term Loan Facility bear interest at a rate equal to the greater of (i) 9.00% plus the Prime Rate (as reported in The Wall Street Journal) less 5.25%, and (ii) 9.00%.    
Interest rate   9.00%      
Debt instrument, interest only payment end date   Apr. 01, 2022      
Debt instrument, interest only payment period may extended date   Nov. 01, 2022      
Debt instrument repayment end date   Oct. 01, 2024      
Debt instrument, end of term payment charge on funded amount percentage   5.50%      
Debt instrument, covenants, obligated to maintain account cover amount percentage   110.00%      
Loan carrying value $ 15,000,000 $ 9,500,000 $ 25,100,000   $ 25,000,000
Interest expense     700,000    
Loan Agreement | Term Loan | Hercules | Prime Rate          
Debt Instrument [Line Items]          
Variable interest rate   9.00%      
Reduced from variable interest rate   5.25%      
Loan Agreement | Term Loan | Hercules | Maximum          
Debt Instrument [Line Items]          
Aggregate principal amount   $ 75,000,000      
Interest expense       $ 300,000  
Loan Agreement | Term Loan | Hercules | Second Tranche          
Debt Instrument [Line Items]          
Aggregate principal amount     $ 10,000,000    
Borrowing capacity term     second tranche was available under the Term Loan Facility, which allowed the Company to borrow an additional amount up to $10.0 million through March 31, 2021. As of March 31, 2021 the Company did not elect to borrow against the second $10.0 million tranche.    
Interest rate   1.50%      
Loan Agreement | Term Loan | Hercules | Second Tranche | Maximum          
Debt Instrument [Line Items]          
Aggregate principal amount   $ 10,000,000      
Loan Agreement | Term Loan | Hercules | First Tranche          
Debt Instrument [Line Items]          
Advanced amount under term loan $ 15,000,000 $ 10,000,000      
Interest rate   2.00%      
Amount payable upon any prepayment or repayment   $ 1,400,000      
Loan Agreement | Term Loan | Hercules | Third Tranche          
Debt Instrument [Line Items]          
Borrowing capacity term     third tranche is available under the Term Loan Facility, which allows the Company to borrow an additional amount up to $10.0 million through June 30, 2021.    
Interest rate   1.00%      
Loan Agreement | Term Loan | Hercules | Third Tranche | Maximum          
Debt Instrument [Line Items]          
Aggregate principal amount   $ 10,000,000      
Loan Agreement | Term Loan | Hercules | Fourth Tranche          
Debt Instrument [Line Items]          
Borrowing capacity term     fourth tranche, which allows the Company to borrow an additional amount up to $30.0 million, will be available upon Hercules’ approval on or prior to December 15, 2021.    
Loan Agreement | Term Loan | Hercules | Fourth Tranche | Maximum          
Debt Instrument [Line Items]          
Aggregate principal amount   $ 30,000,000