Collaborative Arrangement, Counterparty Funding Commitment

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- Definition

Cooperation and Development Agreement, Term

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No definition available.

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

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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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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.

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- Definition

Amount of deferred income and obligation to transfer product and service to customer for which consideration has been received or is receivable.

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

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

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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.

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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.

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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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Cash received from collaborators during the current period.

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Debts - Additional Information (Details)		1 Months Ended		12 Months Ended
Debts - Additional Information (Details)	Feb. 12, 2020 shares $ / shares	Dec. 31, 2020 USD ($)	Feb. 29, 2020 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Mar. 31, 2019 USD ($)	Apr. 04, 2018 USD ($)	Oct. 31, 2017 USD ($)
Line of Credit Facility [Line Items]
Aggregate principal amount of loans outstanding		$ 35,901,000		$ 35,901,000
Accrued interest on promissory note				150,000	$ 150,000
Outstanding balance on line of credit facility		10,200,000		10,200,000	10,500,000
Changes in fair value of promissory note				(927,000)	167,000
Maximum number of shares of common stock issuable (in shares) \| shares	3,076,171
Conversion price per share on convertible note payable (in dollars per share) \| $ / shares	$ 5.12
Interest expense				$ 760,000	758,000
Term of cooperation and development agreement.				3 years
Deferred revenue		674,000		$ 674,000	0
Accounts Payable and Accrued Liabilities
Line of Credit Facility [Line Items]
Interest expense				915,000	496,000
Yaskawa
Line of Credit Facility [Line Items]
Letter of intent for development activities		4,000,000.0	$ 4,000,000.0
Proceeds from Collaborators		1,000,000.0
Deferred revenue		667,000		667,000
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		$ 10,000,000.0		10,000,000.0	15,000,000
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	10,000,000
Tranche B-1 Loan
Line of Credit Facility [Line Items]
Long-term loan facility						$ 2,000,000.0
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%
Accrued interest on promissory note				$ 610,000	608,000
Yaskawa Note
Line of Credit Facility [Line Items]
Interest rate per annum		1.00%		1.00%				1.00%
Changes in fair value of promissory note				$ 927,000	(167,000)
Unsecured subordinated convertible promissory note		$ 15,486,000		15,486,000	15,336,000			$ 15,000,000.0
Maximum number of shares of common stock issuable (in shares) \| shares	3,076,171
Interest expense				150,000	150,000
Accrued interest on promissory note		$ 486,000		$ 486,000	$ 336,000