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Debt - Additional Information (Details)
1 Months Ended 12 Months Ended
Jun. 17, 2020
shares
Jun. 30, 2020
USD ($)
$ / shares
shares
Aug. 31, 2018
USD ($)
Jun. 30, 2017
USD ($)
Installment
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Debt Instrument [Line Items]              
Repayment of existing loan         $ 4,683,000 $ 2,800,000 $ 0
Proceeds from notes         $ 0 $ 19,451,000 $ 2,988,000
Common Stock              
Debt Instrument [Line Items]              
Warrant exercisable | shares   7,809          
Exercise price of warrant | $ / shares   $ 4.77          
Cashless exercise of warrants | shares 15,833            
SVB              
Debt Instrument [Line Items]              
Repayment of existing loan       $ 4,100,000      
Debt instrument final payments       $ 400,000      
SVB | Convertible Notes              
Debt Instrument [Line Items]              
Proceeds from notes     $ 3,000,000        
SVB | Term C Loan | Common Stock              
Debt Instrument [Line Items]              
Warrant term         7 years    
Exercise price of warrant | $ / shares       $ 0.53      
SVB | Term C Loan | Common Stock | Maximum              
Debt Instrument [Line Items]              
Warrant to purchase common stock | shares       9,442      
SVB | Term A And Term B Loans | Series A Convertible Preferred Stock              
Debt Instrument [Line Items]              
Exercise price of warrant | $ / shares         $ 2.2615    
Warrant term         10 years    
SVB | Term A And Term B Loans | Series A Convertible Preferred Stock | Maximum              
Debt Instrument [Line Items]              
Warrant to purchase convertible preferred stock | shares         16,474    
SVB | LSA Amendment              
Debt Instrument [Line Items]              
Loan facility maximum borrowing capacity       $ 7,000,000      
SVB | LSA Amendment | Term C Loan              
Debt Instrument [Line Items]              
Face amount of loans       5,000,000      
Debt instrument final payments       $ 300,000      
Maturity date       Jun. 01, 2021      
Basis spread on variable rate       0.20%      
Frequency of periodic payment principal         36 equal monthly    
Number of equal monthly installments of principal | Installment       36      
Frequency of periodic payment interest         monthly    
Debt instrument final payment percentage       6.50%      
SVB | LSA Amendment | Term D Loan              
Debt Instrument [Line Items]              
Face amount of loans       $ 2,000,000      
SVB | LSA Second Amendment | Term D Loan              
Debt Instrument [Line Items]              
Debt instrument final payments     $ 100,000        
Debt instrument final payment percentage     6.50%        
Proceeds from issuance of long-term debt     $ 2,000,000        
SVB | LSA | Term C And D Loans              
Debt Instrument [Line Items]              
Loans prepaid amount   $ 2,800,000          
Payment of final payment and accrued interest   $ 500,000