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Debt - Additional Information (Details) - USD ($)
$ / shares in Units, shares in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Feb. 28, 2017
Mar. 31, 2017
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Dec. 31, 2017
Debt Instrument [Line Items]              
Interest expense     $ 928,000 $ 807,000 $ 2,749,000 $ 2,068,000  
Cash interest expense     700,000 500,000 2,100,000 1,600,000  
Non-cash interest expense     200,000 $ 300,000 $ 600,000 $ 500,000  
Debt instrument, final payment fee   $ 1,000,000          
$35.0 Million Credit Facility              
Debt Instrument [Line Items]              
Percentage of forecasted revenue to be achieved         75.00%    
$35.0 Million Credit Facility | Prepaid on or Before First Anniversary of Funding              
Debt Instrument [Line Items]              
Prepayment fees percentage         3.00%    
$35.0 Million Credit Facility | Prepaid After First and on or Before Second Anniversary of Funding              
Debt Instrument [Line Items]              
Prepayment fees percentage         2.00%    
$35.0 Million Credit Facility | Prepaid After Second Anniversary of Funding              
Debt Instrument [Line Items]              
Prepayment fees percentage         1.00%    
$35.0 Million Credit Facility | Oxford Finance LLC              
Debt Instrument [Line Items]              
Line of credit facility, maximum borrowing capacity $ 25,000,000 35,000,000          
Borrowings outstanding under credit facility     $ 30,000,000   $ 30,000,000    
Available borrowing achievement of trailing twelve month revenues   45,000,000          
Debt instrument, interest rate     8.15%   8.15%    
Warrants term     7 years   7 years    
Percentage of borrowing capacity of tranche         3.95%    
Borrowing capacity of tranche     $ 5,000,000   $ 5,000,000    
Credit facility maturity date         Mar. 01, 2022    
$35.0 Million Credit Facility | Oxford Finance LLC | LIBOR              
Debt Instrument [Line Items]              
Debt instrument, description of variable rate basis         30 day U.S. LIBOR    
Basis spread on variable rate         7.38%    
$35.0 Million Credit Facility | Term A Loan              
Debt Instrument [Line Items]              
Interest-only period         2019-03    
Amortization period without interest-only period extension         36 months    
Extension of interest-only period upon achievement of revenues         12 months    
Interest-only period upon achievement of revenues         2020-03    
Amortization period upon extension of interest-only period         24 months    
Final payment fees percentage         8.00%    
Increase in final payment fees percentage upon extension interest only periods         8.50%    
Effective interest rates     10.70%   10.70%   10.70%
$35.0 Million Credit Facility | Term A Loan | Common Stock              
Debt Instrument [Line Items]              
Warrants to purchase shares     20,303   20,303    
Warrants, exercise price     $ 9.73   $ 9.73    
Warrants expiration period         2024-03    
$35.0 Million Credit Facility | Term A Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Borrowings outstanding under credit facility   25,000,000          
$35.0 Million Credit Facility | Term B Loan              
Debt Instrument [Line Items]              
Interest-only period         2019-03    
Amortization period without interest-only period extension         36 months    
Extension of interest-only period upon achievement of revenues         12 months    
Interest-only period upon achievement of revenues         2020-03    
Amortization period upon extension of interest-only period         24 months    
Final payment fees percentage         7.00%    
Increase in final payment fees percentage upon extension interest only periods         7.50%    
Effective interest rates     11.60%   11.60%   11.60%
$35.0 Million Credit Facility | Term B Loan | Common Stock              
Debt Instrument [Line Items]              
Warrants to purchase shares     20,303   20,303    
Warrants, exercise price     $ 9.73   $ 9.73    
Warrants expiration period         2024-12    
$35.0 Million Credit Facility | Term B Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Borrowings outstanding under credit facility   5,000,000          
$35.0 Million Credit Facility | Term C Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Line of credit facility, current borrowing capacity   $ 5,000,000          
Notification period for lenders to borrow loan upon achieving required revenue milestone         60 days    
Line of credit facility additional borrowing capacity     $ 5,000,000   $ 5,000,000    
$25.0 Million Credit Facility | Oxford Finance LLC              
Debt Instrument [Line Items]              
Line of credit facility, maximum borrowing capacity $ 25,000,000            
$25.0 Million Credit Facility | Term A Loan              
Debt Instrument [Line Items]              
Final payment fees percentage 8.50%            
$25.0 Million Credit Facility | Term A Loan | Minimum              
Debt Instrument [Line Items]              
Debt instrument, accrued interest rate 8.50%            
$25.0 Million Credit Facility | Term A Loan | Maximum              
Debt Instrument [Line Items]              
Debt instrument, accrued interest rate 8.90%            
$25.0 Million Credit Facility | Term A Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Borrowings outstanding under credit facility $ 15,000,000            
$25.0 Million Credit Facility | Term B Loan              
Debt Instrument [Line Items]              
Final payment fees percentage 4.70%            
$25.0 Million Credit Facility | Term B Loan | Minimum              
Debt Instrument [Line Items]              
Debt instrument, accrued interest rate 8.50%            
$25.0 Million Credit Facility | Term B Loan | Maximum              
Debt Instrument [Line Items]              
Debt instrument, accrued interest rate 8.90%            
$25.0 Million Credit Facility | Term B Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Borrowings outstanding under credit facility $ 5,000,000            
$25.0 Million Credit Facility | Term C Loan | Oxford Finance LLC              
Debt Instrument [Line Items]              
Line of credit facility, current borrowing capacity $ 5,000,000