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Debt - SVB Agreement (Details)
3 Months Ended 9 Months Ended 17 Months Ended
Sep. 30, 2020
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Mar. 01, 2022
USD ($)
Apr. 10, 2020
installment
Dec. 31, 2019
USD ($)
Oct. 01, 2019
USD ($)
$ / shares
shares
Debt Instrument [Line Items]              
Outstanding principal, debt obligations $ 8,026,000 $ 8,026,000       $ 5,609,000  
Amortization of debt discount   53,000 $ 0        
SVB loan agreement              
Debt Instrument [Line Items]              
Outstanding principal, debt obligations 5,609,000 5,609,000       5,609,000  
Unamortized debt discount 49,000 49,000       102,000  
SVB loan agreement | Forecast              
Debt Instrument [Line Items]              
Principal payment       $ 291,500      
Period of installments       18 months      
PPP Loan              
Debt Instrument [Line Items]              
Outstanding principal, debt obligations 2,417,000 2,417,000       $ 0  
Fixed rate         1.00%    
Number of monthly installments | installment         18    
Additional Paid-In Capital              
Debt Instrument [Line Items]              
Issuance of warrants to purchase common stock in connection with long term debt   72,000          
SVB Warrant              
Debt Instrument [Line Items]              
Number of warrants called | shares             72,394
Exercise price (in dollars per share) | $ / shares             $ 0.01
Warrant term             10 years
Term loan facility | SVB loan agreement              
Debt Instrument [Line Items]              
Face amount             $ 5,247,000
Effective percentage           6.75%  
Fee amount             192,000
Debt issuance costs             20,000
Amortization of debt discount 8,000            
Unamortized debt discount $ 49,000 $ 49,000       $ 102,000  
Term loan facility | SVB loan agreement | Prime rate              
Debt Instrument [Line Items]              
Basis spread   2.00%          
Term loan facility | SVB Loan Agreement, Amendment              
Debt Instrument [Line Items]              
Effective percentage 7.50% 7.50%          
Term loan facility | SVB Loan Agreement, Amendment | Prime rate              
Debt Instrument [Line Items]              
Basis spread   4.25%          
Term loan facility | Deferral fee | SVB Loan Agreement, Amendment              
Debt Instrument [Line Items]              
Fee amount             100,000
Term loan facility | Maturity Fee | SVB loan agreement              
Debt Instrument [Line Items]              
Fee amount             $ 262,000