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Long-term debt (Details) - USD ($)
$ in Millions
3 Months Ended
Sep. 30, 2020
Mar. 31, 2024
Mar. 31, 2023
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 after year two      
Debt Instrument [Line Items]      
Prepayment rate   1.00%  
Prime Rate      
Debt Instrument [Line Items]      
Basis spread variable rate 4.55%    
Minimum      
Debt Instrument [Line Items]      
Debt instrument stated percentage 8.05%    
Maximum      
Debt Instrument [Line Items]      
Term loan   $ 45.0  
Debt instrument stated percentage 9.05%    
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
Loan and Security Agreement      
Debt Instrument [Line Items]      
Term loan   $ 30.0  
Loan and Security Agreement | Term Loan      
Debt Instrument [Line Items]      
Maximum borrowing $ 75.0