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Debt - Additional Information (Details) - USD ($)
9 Months Ended
Aug. 04, 2023
Nov. 21, 2022
Nov. 16, 2022
Sep. 30, 2024
Sep. 30, 2023
Dec. 15, 2023
May 10, 2023
Debt Instrument [Line Items]              
Proceeds from the issuance of common stock       $ 55,625,000 $ 15,316,000    
Amount withdrawn       $ 40,040,000      
First Amendment              
Debt Instrument [Line Items]              
Warrant issued to purchase shares             500,000
Warrant, exercise price             $ 1.6254
Initial warrants amount             $ 700,000
2018 Notes | Series G Preferred Stock              
Debt Instrument [Line Items]              
Warrant issued to purchase shares       613,333      
Warrant, exercise price       $ 0.75      
Perceptive Term Loan Facility              
Debt Instrument [Line Items]              
Debt instrument maturity date     Nov. 21, 2027        
Interest rate     3.00%        
Applicable margin rate     9.00%        
Effective interest rate       13.90%      
Warrant, exercise price     $ 1.0648        
Public offering price per share of common stock   $ 1.15          
Minimum cash balance at maturity date       $ 2,500,000      
Initial warrants amount   $ 2,900,000 $ 2,900,000        
Additional warrants amount     100,000        
Debt instrument, discount     5,200,000        
Perceptive Term Loan Facility | Tranche A Loan              
Debt Instrument [Line Items]              
Net proceeds from debt, after deducting debt issuance costs and expenses     $ 27,900,000        
Warrant, exercise price   $ 1.0648          
Perceptive Term Loan Facility | Tranche B Loan              
Debt Instrument [Line Items]              
Warrant, exercise price     $ 1.0648        
Additional warratns exercisable     1,000,000        
Amount withdrawn           $ 10,000,000  
Perceptive Term Loan Facility | Tranche C Loan              
Debt Instrument [Line Items]              
Additional warratns exercisable     1,000,000        
Amount withdrawn       $ 0      
Perceptive Term Loan Facility | Minimum              
Debt Instrument [Line Items]              
Prepayment premium percentage of aggregate outstanding principal amount     2.00%        
Perceptive Term Loan Facility | Maximum              
Debt Instrument [Line Items]              
Prepayment premium percentage of aggregate outstanding principal amount     10.00%        
Warrant issued to purchase shares   5,000,000 5,000,000        
Perceptive Term Loan Facility | Maximum | Tranche A Loan              
Debt Instrument [Line Items]              
Debt instrument, aggregate principal amount   $ 30,000,000          
Perceptive Term Loan Facility | Maximum | Tranche B Loan              
Debt Instrument [Line Items]              
Debt instrument, aggregate principal amount     $ 10,000,000        
Perceptive Term Loan Facility | Maximum | Tranche C Loan              
Debt Instrument [Line Items]              
Debt instrument, aggregate principal amount     $ 10,000,000        
Second Amendment | Tranche B Loan              
Debt Instrument [Line Items]              
Gross proceeds from sale of common shares $ 27,500,000            
Amount withdrawn           $ 10,000,000