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Long-term debt (Details) - USD ($)
$ in Millions
3 Months Ended
Jul. 15, 2022
Mar. 15, 2022
Mar. 31, 2023
Mar. 31, 2022
Mar. 10, 2021
Sep. 30, 2020
Debt Instrument [Line Items]            
Borrowing option to prepay subject to minimum debt outstanding     $ 5.0      
End term charge rate     5.00%      
Additional interest rate event of default     5.00%      
Prepayment occurs in second year            
Debt Instrument [Line Items]            
Prepayment rate     1.50%      
Prepayment occurs after year two            
Debt Instrument [Line Items]            
Prepayment rate     1.00%      
Second Amendment to LSA            
Debt Instrument [Line Items]            
Debt instrument stated percentage 8.05%          
Second Amendment to LSA | Prime Rate            
Debt Instrument [Line Items]            
Basis spread variable rate 4.55%          
Second Amendment to LSA | Maximum            
Debt Instrument [Line Items]            
Term loan $ 45.0          
Debt instrument stated percentage 9.05%          
Term Loan            
Debt Instrument [Line Items]            
Maximum borrowing $ 75.0          
Initial Term Loan            
Debt Instrument [Line Items]            
Fees and transaction costs     $ 0.6      
Debt instrument effective percentage     10.80%      
Interest expense     $ 0.8 $ 0.8    
Additional Term Loan One            
Debt Instrument [Line Items]            
Additional term loan expired unexercised.   $ 10.0        
Loan and Security Agreement | Term Loan            
Debt Instrument [Line Items]            
Maximum borrowing           $ 40.0
Loan and Security Agreement | Initial Term Loan            
Debt Instrument [Line Items]            
Term loan           15.0
Loan and Security Agreement | Additional Term Loan One            
Debt Instrument [Line Items]            
Term loan         $ 15.0 15.0
Loan and Security Agreement | Additional Term Loan Two            
Debt Instrument [Line Items]            
Term loan           $ 10.0