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Debt - Summary of Interest Expense Components (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Apr. 17, 2015
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Debt Instrument [Line Items]          
Amortization of deferred financing costs   $ 103 $ 48 $ 226 $ 328
Amortization of debt discount associated with the SWK warrants   479 185 1,286 429
Mark to market of SWK Warrant 2   0 (74) 59 (74)
Total   878 388 2,678 1,097
2013 Loan and Security Agreement          
Debt Instrument [Line Items]          
Write-off of debt issuance costs   0 0 282 0
Loans payable | Credit agreement          
Debt Instrument [Line Items]          
Interest expense   171 188 512 342
Accretion of termination fees (over term of Term Loan at rate of 8%)   $ 53 21 $ 144 48
Exit fee as a percent of aggregate principal 8.00% 8.00%   8.00%  
Line of credit | 2013 Loan and Security Agreement          
Debt Instrument [Line Items]          
Interest expense   $ 0 20 $ 49 24
Line of credit | 2016 Credit and Security Agreement          
Debt Instrument [Line Items]          
Interest expense   $ 72 $ 0 $ 120 $ 0
LIBOR | Loans payable | Credit agreement          
Debt Instrument [Line Items]          
Spread on variable rate (as percent) 14.00%     14.00%