Collaborative Arrangement, Counterparty Funding Commitment

No definition available.

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- Definition

Including the current and noncurrent portions, the carrying value of convertible subordinated debt, as of the balance sheet date, initially scheduled to be repaid after one year or beyond the normal operating cycle if longer. This form of debt can be exchanged for a specified amount of another security, typically the entity's common stock, at the option of the issuer or the holder, and places a lender in a lien position behind debt having a higher priority of repayment in liquidation of the entity's assets.

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- Definition

The price per share of the conversion feature embedded in the debt instrument.

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- Definition

The number of equity instruments that the holder of the debt instrument would receive if the debt was converted to equity.

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- Definition

Face (par) amount of debt instrument at time of issuance.

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- Definition

Contractual interest rate for funds borrowed, under the debt agreement.

+ References

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- Definition

For each line item in the statement of financial position, the amounts of gains and losses from fair value changes included in earnings.

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- Definition

Amount of the cost of borrowed funds accounted for as interest expense.

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- Definition

Amount of the cost of borrowed funds accounted for as interest expense for debt.

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- Definition

Amount of interest payable on debt, including, but not limited to, trade payables.

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- Definition

The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

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- Definition

Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility.

+ References

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- Definition

Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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- Definition

Cash received from collaborators during the current period.

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Debts - Additional Information (Details)		1 Months Ended	3 Months Ended		8 Months Ended	12 Months Ended
Debts - Additional Information (Details)	Feb. 12, 2020 shares $ / shares	Feb. 29, 2020 USD ($)	Mar. 31, 2020 USD ($)	Mar. 31, 2019 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Apr. 04, 2018 USD ($)	Apr. 02, 2018 USD ($)	Oct. 31, 2017 USD ($)
Line of Credit Facility [Line Items]
Aggregate principal amount of loans outstanding			$ 41,358,000
Revolving loan							$ 10,000,000
Outstanding balance on line of credit facility			10,600,000	$ 10,500,000
Changes in fair value of promissory note			2,321,000	(33,000)
Interest expense			189,000	187,000
Conversion price per share on convertible note payable (in dollars per share) \| $ / shares	$ 5.12
Maximum number of shares of common stock issuable (in shares) \| shares	3,076,171
Yaskawa
Line of Credit Facility [Line Items]
Letter of intent for development activities		$ 4,000,000.0
Yaskawa \| Forecast
Line of Credit Facility [Line Items]
Proceeds from Collaborators					$ 1,000,000.0
Loan and Security Agreement (LSA)
Line of Credit Facility [Line Items]
Long-term loan facility							15,000,000.0
Aggregate principal amount of loans outstanding			15,000,000.0
Tranche A Loan
Line of Credit Facility [Line Items]
Long-term loan facility							5,000,000.0
Tranche B Loan
Line of Credit Facility [Line Items]
Long-term loan facility			8,000,000.0	8,000,000			8,000,000
Tranche B-1 Loan
Line of Credit Facility [Line Items]
Long-term loan facility			2,000,000.0	2,000,000			$ 2,000,000
Tranche C Note
Line of Credit Facility [Line Items]
Long-term loan facility			$ 10,000,000.0
Revolving loan								$ 10,000,000.0
Interest rate per annum			6.00%					6.00%
Accrued interest on promissory note			$ 152,000	$ 150,000
Yaskawa Note
Line of Credit Facility [Line Items]
Long-term loan facility			$ 15,000,000.0
Interest rate per annum			1.00%						1.00%
Changes in fair value of promissory note			$ 2,300,000			$ 167,000
Unsecured subordinated convertible promissory note			15,373,000			15,336,000			$ 15,000,000.0
Interest expense			37,000
Accrued interest on promissory note			$ 373,000			$ 336,000
Maximum number of shares of common stock issuable (in shares) \| shares	3,076,171