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Borrowings - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Mar. 22, 2019
Jun. 30, 2017
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Jun. 30, 2019
Jun. 24, 2019
Debt Disclosure [Line Items]                
Amounts outstanding under financing arrangements       $ 0   $ 0    
Warrant issued to purchase stock               188,643
Revolving Loan | Series C Redeemable Convertible Preferred Stock                
Debt Disclosure [Line Items]                
Warrant issued to purchase stock   62,096            
Warrant exercise price per share   $ 8.052            
TriplePoint Capital LLC                
Debt Disclosure [Line Items]                
Line of Credit Facility, Maximum Borrowing Capacity $ 20,000,000              
Line of credit outstanding             $ 20,000,000  
Line of credit facility interest rate         15.23%      
Estimated fair value of warrants $ 600,000              
Interest expense     $ 300,000   $ 1,000,000      
Line of Credit Facility, Frequency of Payments       36 equal monthly payments of principal, plus accrued interest, from April 1, 2020 through March 1, 2023        
Percentage of prepayment fee 1.00%              
Percentage of principle payment amount 2.75%              
Fees paid to lender $ 300,000              
TriplePoint Capital LLC | Common Stock                
Debt Disclosure [Line Items]                
Warrant issued to purchase stock 65,502              
Warrant exercise price per share $ 9.16              
TriplePoint Capital LLC | Maximum | Option One                
Debt Disclosure [Line Items]                
Line of credit outstanding $ 15,000,000              
TriplePoint Capital LLC | Minimum | Option Two                
Debt Disclosure [Line Items]                
Line of credit outstanding 15,000,000              
TriplePoint Capital LLC | Revolving Loan                
Debt Disclosure [Line Items]                
Line of Credit Facility, Maximum Borrowing Capacity   $ 10,000,000            
Line of credit outstanding   $ 5,000,000            
Line of credit facility interest rate   5.50%     19.22%      
Line of credit facility maturity date       Dec. 31, 2018        
Line of credit facility extended maturity date       Mar. 22, 2019        
Estimated fair value of warrants   $ 100,000            
Debt Instrument, term   1 year 6 months            
Interest expense     $ 0   $ 200,000      
Repayments of amount outstanding $ 5,100,000              
TriplePoint Capital LLC | Revolving Loan | Series C Redeemable Convertible Preferred Stock                
Debt Disclosure [Line Items]                
Warrant issued to purchase stock   62,096            
Warrant exercise price per share   $ 8.052            
TriplePoint Capital LLC | Prime Rate | Option One                
Debt Disclosure [Line Items]                
Interest rate, prime rate plus 5.00%              
TriplePoint Capital LLC | Prime Rate | Option Two                
Debt Disclosure [Line Items]                
Interest rate, prime rate plus 6.50%              
TriplePoint Capital LLC | Prime Rate | Revolving Loan                
Debt Disclosure [Line Items]                
Interest rate, prime rate plus   6.75%