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Debt - Schedule of Debt (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Feb. 28, 2021
Nov. 30, 2019
Feb. 28, 2014
Convertible Debt          
Debt Instrument [Line Items]          
Net carrying value of all Notes $ 54,733 $ 54,615      
Secured Debt          
Debt Instrument [Line Items]          
Interest rate on notes 4.00%        
Principal amount $ 10,000 10,000      
End-of-term fee accretion 350 296      
Unamortized debt issuance cost (16) (19)      
Net carrying value of all Notes 10,334 10,277      
Less: term loan, current 3,333 2,083      
Term loan, non-current 7,001 8,194      
2014 Notes | Convertible Debt          
Debt Instrument [Line Items]          
Interest rate on notes         2.75%
Principal amount 578 578 $ 500 $ 1,100  
Unamortized debt discount (7) (8)      
Unamortized debt issuance cost (2) (2)      
Net carrying value of all Notes 569 568      
2019 Notes | Convertible Debt          
Debt Instrument [Line Items]          
Interest rate on notes       5.25%  
Principal amount 55,000 55,000      
Unamortized debt issuance cost (836) (953)      
Net carrying value of all Notes $ 54,164 $ 54,047