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Debt - Additional Information (Details)
1 Months Ended 6 Months Ended
Jun. 17, 2020
shares
Jul. 01, 2019
Installment
Jun. 30, 2020
USD ($)
$ / shares
shares
Aug. 31, 2018
USD ($)
Jun. 30, 2017
USD ($)
Jun. 30, 2021
USD ($)
Jun. 30, 2020
USD ($)
$ / shares
shares
Debt Instrument [Line Items]              
Repayment of existing loan           $ 0 $ 4,683,000
Common Stock              
Debt Instrument [Line Items]              
Warrant exercisable | shares     7,809       7,809
Exercise price of warrant | $ / shares     $ 4.77       $ 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       $ 3,000,000.0      
SVB | Term C Loan | Common Stock              
Debt Instrument [Line Items]              
Warrant term     7 years        
Exercise price of warrant | $ / shares     $ 0.53       $ 0.53
SVB | Term C Loan | Common Stock | Maximum              
Debt Instrument [Line Items]              
Warrant to purchase common stock | shares     9,442       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       $ 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       16,474
SVB | LSA Amendment              
Debt Instrument [Line Items]              
Loan facility maximum borrowing capacity         7,000,000.0    
SVB | LSA Amendment | Term C Loan              
Debt Instrument [Line Items]              
Face amount of loans         5,000,000.0    
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         $ 2,000,000.0    
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       $ 2,000,000.0      
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