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Debt - Summary of Information about the Equity and Liability Components of Notes (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Feb. 10, 2020
Dec. 31, 2019
Apr. 15, 2019
Debt Instrument [Line Items]              
Total long-term portion of notes payable $ 104,867,000   $ 104,867,000     $ 62,414,000  
Convertible Notes              
Debt Instrument [Line Items]              
Contractual interest expense 1,017,000 $ 900,000 3,009,000 $ 1,650,000      
Amortization of debt issuance costs and discount 1,126,000 882,000 3,205,000 1,628,000      
Total interest expense 2,143,000 $ 1,782,000 6,214,000 $ 3,278,000      
Convertible Notes | Convertible Senior Notes due 2024              
Debt Instrument [Line Items]              
Principal amount of notes outstanding 13,750,000   13,750,000       $ 80,000,000.0
Unamortized discount (including unamortized debt issuance cost) (2,787,000)   (2,787,000)        
Total long-term portion of notes payable 10,963,000   10,963,000        
Convertible Notes | Convertible Senior Notes Due 2026              
Debt Instrument [Line Items]              
Principal amount of notes outstanding 120,000,000   120,000,000   $ 120,000,000.0    
Unamortized discount (including unamortized debt issuance cost) (26,968,000)   (26,968,000)        
Total long-term portion of notes payable $ 93,032,000   $ 93,032,000