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Borrowings - Narrative (Details) - USD ($)
1 Months Ended 12 Months Ended
May 29, 2020
Apr. 29, 2020
Apr. 21, 2020
Oct. 31, 2017
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]            
Proceeds from debt financing         $ 45,297,000 $ 0
Recognition of unamortized debt discount and issuance costs on debt extinguishment         700,000  
Prepayment penalty and lender fees on debt extinguishment         800,000  
Final fee         884,000 $ 0
Deferred liability for social security taxes, CARES Act         1,000,000.0  
Accrued liabilities            
Debt Instrument [Line Items]            
Deferred liability for social security taxes, CARES Act         500,000  
Other long-term liabilities            
Debt Instrument [Line Items]            
Deferred liability for social security taxes, CARES Act         $ 500,000  
PPP Loan, CARES Act            
Debt Instrument [Line Items]            
Proceeds from PPP loan     $ 5,300,000      
Repayment of PPP loan   $ 5,300,000        
Term Loan | Pharmakon Term Loan            
Debt Instrument [Line Items]            
Proceeds from debt financing       $ 40,000,000.0    
Debt period payment, interest only period       35 months    
Fixed interest rate (percent)       11.50%    
Effective interest rate during the period (percent)         12.40% 12.30%
Term Loan | Pharmakon Term Loan | Prepayment Penalty, 31-48 Months            
Debt Instrument [Line Items]            
Debt prepayment penalty percentage (percent)       2.00%    
Term Loan | Pharmakon Term Loan | Prepayment Penalty, 49-60 Months            
Debt Instrument [Line Items]            
Debt prepayment penalty percentage (percent)       1.00%    
Term Loan | Solar Loan And Security Agreement            
Debt Instrument [Line Items]            
Debt period payment, interest only period 36 months          
Fixed interest rate (percent) 9.40%          
Aggregate principal amount $ 40,000,000.0          
Unamortized debt discount and issuance cost $ 800,000          
Debt maturity term (in months) 60 months          
Allowable prepayment increments per agreement $ 10,000,000.0          
Prepayment premium in year one (percent) 3.00%          
Prepayment premium in year two (percent) 1.25%          
Prepayment premium in year three or later (percent) 0.50%          
Final fee $ 1,000,000.0          
Final fee as percentage of aggregate principal amount (percent) 2.50%          
Effective interest rate during the period (percent)         10.60%  
Incremental interest rate increase upon default of minimum liquidity covenant (percent) 5.00%          
Term Loan | Solar Loan And Security Agreement | Variable Option One            
Debt Instrument [Line Items]            
Basis spread on variable rate (percent) 0.33%          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche One            
Debt Instrument [Line Items]            
Debt covenant minimum cash balance $ 15,000,000.0          
Product revenue threshold for minimum liquidity covenant 75,000,000.0          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche One | Minimum            
Debt Instrument [Line Items]            
Product revenue threshold for minimum liquidity covenant 75,000,000.0          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche One | Maximum            
Debt Instrument [Line Items]            
Product revenue threshold for minimum liquidity covenant 100,000,000.0          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche Two            
Debt Instrument [Line Items]            
Debt covenant minimum cash balance 7,500,000          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche Three            
Debt Instrument [Line Items]            
Debt covenant minimum cash balance 0          
Term Loan | Solar Loan And Security Agreement | Debt Covenant Tranche Three | Minimum            
Debt Instrument [Line Items]            
Product revenue threshold for minimum liquidity covenant $ 100,000,000.0