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Debt - SVB Agreement (Details)
3 Months Ended 12 Months Ended 17 Months Ended
Oct. 22, 2020
USD ($)
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
$ / shares
Mar. 01, 2022
USD ($)
Dec. 06, 2020
Oct. 21, 2020
Sep. 30, 2020
Apr. 10, 2020
installment
Oct. 01, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
$ / shares
Debt Instrument [Line Items]                      
Outstanding principal, debt obligations   $ 2,417,000 $ 2,417,000 $ 5,609,000              
Exercise price (in dollars per share) | $ / shares   $ 4.85 $ 4.85 $ 0.01             $ 0
Warrant term           2 years 2 years        
Issuance of common shares from warrant exercise       $ 72,000              
Amortization of debt discount     $ 56,000 90,000              
SVB Loan Agreement                      
Debt Instrument [Line Items]                      
Debt instrument, unamortized discount   $ 0 0 102,000              
Outstanding principal, debt obligations $ 3,063,000 0 0 5,609,000           $ 5,609,000  
One-time cash payment 2,500,000                    
Interest payable $ 54,000                    
SVB Loan Agreement | Forecast                      
Debt Instrument [Line Items]                      
Principal payment         $ 291,500            
PPP Loan                      
Debt Instrument [Line Items]                      
Outstanding principal, debt obligations   2,417,000 2,417,000 0              
Interest payable   18,000 18,000                
Fixed rate                 1.00%    
Number of monthly installments | installment                 18    
Additional Paid-In Capital                      
Debt Instrument [Line Items]                      
Issuance of common shares from warrant exercise     72,000 $ 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  
Debt instrument, unamortized discount                   $ 362,000  
Amortization of debt discount   83,000                  
Debt discount   $ 47,000 $ 47,000                
Term Loan Facility | SVB Loan Agreement, Amendment                      
Debt Instrument [Line Items]                      
Effective percentage               7.50%      
Term Loan Facility | SVB Loan Agreement, Amendment | Prime Rate                      
Debt Instrument [Line Items]                      
Basis spread     4.25%