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Debt Obligations - Senior Term Loan (Details) - USD ($)
9 Months Ended
Dec. 07, 2018
Sep. 30, 2021
Dec. 31, 2020
Senior Term Loan      
Debt Instrument [Line Items]      
Proceeds from issuance of debt $ 70,000,000    
Less: net unamortized debt discount 2,100,000    
Debt issuance costs $ 2,000,000    
Interest rate, stated percentage 4.75%    
Prepayment fees associated with the early pay-off   $ 0  
Senior Term Loan | LIBOR      
Debt Instrument [Line Items]      
Basis spread on variable rate 1.50%    
Senior Term Loan due December 2021, related party | Senior Term Loan      
Debt Instrument [Line Items]      
Less: net unamortized debt discount   0 $ 480,000
Debt issuance costs   $ 0 $ 465,000
Senior Term Loan due December 2021, related party | Minimum      
Debt Instrument [Line Items]      
Percent of common stock owned 5.00%