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Debt - Promissory Notes (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
Jan. 12, 2021
Dec. 23, 2020
Jul. 23, 2020
Dec. 19, 2019
Mar. 14, 2017
Dec. 31, 2020
Oct. 31, 2020
Jul. 31, 2020
Apr. 30, 2020
Mar. 31, 2020
Dec. 31, 2020
Dec. 31, 2019
Mar. 31, 2021
Nov. 01, 2018
Debt                            
Amount borrowed       $ 3,000                    
Interest rate (stated)       3.00%                    
Warrants issued on conversion       403,101                    
Interest rate on the event of default       25.00%                    
Proceeds from debt issuance, net of fees       $ 3,000           $ 1,940 $ 66,190 $ 31,300    
Amount outstanding           $ 47,983         47,983 49,461 $ 50,104  
Loans assumed     $ 398                      
Variable interest rate     1.00%                      
Loan Proceeds Remain outstanding, Termination of Merger [Member]                            
Debt                            
Amount borrowed                           $ 1,100
Interest rate (stated)                           2.55%
Amount outstanding   $ 1,077                   1,059    
Unpaid interest   4                        
Loan Proceeds Remain outstanding, Acceleration of Loan Due To Event of Default, Termination of Merger [Member]                            
Debt                            
Interest rate on the event of default         6.00%                  
Proceeds from debt issuance, net of fees         $ 185                  
Amount outstanding   185                   185    
Unpaid interest   75                        
Paycheck Protection Program, Cares Act Loans [Member]                            
Debt                            
Interest rate (stated)                 1.00%          
Proceeds from debt issuance, net of fees                 $ 8,139          
Debt instrument term                 2 years          
Amount outstanding           $ 8,139         8,139   $ 8,317  
Loans assumed $ 2,026                          
Variable interest rate 1.00%                          
Paycheck Protection Program, Cares Act Loans [Member] | Maximum                            
Debt                            
Percentage of prepayment of PPP loan without penalty                 20.00%          
Paycheck Protection Program, Cares Act Loans [Member] | Minimum                            
Debt                            
Percentage of prepayment of PPP loan require notice to lender                 20.00%          
Twenty Twenty Promissory Notes [Member]                            
Debt                            
Variable interest rate           12.00%                
Repayments of debt   10,000                        
Repayment of loan   12,063                        
Adjustments to additional   564                        
Convertible debt with conversion feature   5,772                        
Unpaid interest   2,000                        
Interest amount   63                        
Loan Agreement With Cantor Fitzgerald Securities [Member]                            
Debt                            
Proceeds from debt issuance, net of fees             $ 5,000 $ 10,000            
Restricted cash             $ 5,000              
Series C Redeemable Convertible Preferred Stock                            
Debt                            
Warrants grant date fair value           $ 300         $ 300      
Amount outstanding                       $ 37    
Repayments of debt   3,381                        
Repayment of loan   4,424                        
Unpaid interest   1,000                        
Interest amount   $ 43                        
Series C Redeemable Convertible Preferred Stock | Twenty Twenty Promissory Notes [Member]                            
Debt                            
Amount borrowed               $ 1,000            
Warrants issued on conversion               51,502            
Debt instrument term               1 year