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Notes Payable - Additional Information (Details)
1 Months Ended 6 Months Ended
May 25, 2023
USD ($)
May 31, 2021
Installment
Sep. 30, 2019
USD ($)
Installment
$ / shares
shares
Jun. 30, 2024
Dec. 31, 2023
USD ($)
Apr. 23, 2021
Short Term Debt [Line Items]            
Term Loan maturity date     Jun. 01, 2024      
Line of Credit            
Short Term Debt [Line Items]            
Debt instrument, frequency of periodic payment     monthly      
Debt instrument, interest rate, basis for effective rate     prime rate      
Percentage of final principal payment     5.00%      
Required notice period for debt prepayment     30 days      
Debt prepayment fee as percent on year one     3.00%      
Debt prepayment fee as percent on year two     2.00%      
Debt prepayment fee as percent from year three     1.00%      
Line of Credit | Prime Rate            
Short Term Debt [Line Items]            
Debt instrument, basis spread on variable rate     3.00%      
Line of Credit | Minimum            
Short Term Debt [Line Items]            
Debt instrument, interest rate, stated percentage     8.25%      
Loan Agreement            
Short Term Debt [Line Items]            
Line of credit facility frequency of payments principal and interest | Installment   24        
Debt instrument, frequency of periodic payment       monthly    
Debt instrument, prepayment and termination amount $ 6,800,000          
Repayment of remaining principal amount and interest outstanding 6,200,000          
Debt instrument, prepayment fee 62,000          
Debt instrument, final payment fee $ 500,000          
Long term loan obligation         $ 0  
Loan Agreement | Minimum            
Short Term Debt [Line Items]            
Debt instrument, interest rate, effective percentage           4.50%
Loan Agreement | Maximum            
Short Term Debt [Line Items]            
Debt instrument, interest rate, effective percentage           5.00%
Term Loan            
Short Term Debt [Line Items]            
Borrowings under loan agreement     $ 10,000,000      
Line of credit facility frequency of payments principal and interest | Installment     36      
Lenders warrants exercisable for shares | shares     80,428      
Warrants exercisable, per share exercise price | $ / shares     $ 3.73