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Debt - Narrative (Details) - USD ($)
May 20, 2019
Sep. 30, 2021
Dec. 31, 2020
Aug. 10, 2020
Debt Instrument [Line Items]        
Class of warrants, exercise price (in dollars per share)   $ 9.41 $ 9.10  
Series D Convertible Preferred Stock        
Debt Instrument [Line Items]        
Class of warrants number of securities called by the warrants or rights (in shares)       446,990
Class of warrants, exercise price (in dollars per share)       $ 16.67
2019 Credit Agreement        
Debt Instrument [Line Items]        
Interest rate 7.75%      
Fee amount $ 4,600,000 $ 4,600,000 $ 4,600,000  
Warrants liability fair value 900,000      
Direct fees $ 1,200,000      
2019 Credit Agreement | Series C Convertible Preferred Stock        
Debt Instrument [Line Items]        
Class of warrants number of securities called by the warrants or rights (in shares) 419,992      
Class of warrants, exercise price (in dollars per share) $ 16.67      
2019 Credit Agreement | Series D Convertible Preferred Stock        
Debt Instrument [Line Items]        
Class of warrants, exercise price (in dollars per share) $ 16.67      
2019 Credit Agreement | Senior Term Loan        
Debt Instrument [Line Items]        
Face amount $ 70,000,000      
Proceeds from senior term loan 40,000,000      
Remaining amount 30,000,000      
Unused borrowing capacity 0      
Fee amount 4,600,000      
Initial debt discount before inception $ 6,700,000      
Default Event | Senior Term Loan        
Debt Instrument [Line Items]        
Interest rate, increase (decrease) 10.00%