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Long-term debt (Details) - USD ($) $ in Thousands |  |  | 3 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jan. 29, 2021 | Dec. 06, 2018 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 15, 2021 | Dec. 31, 2020 | May 31, 2020
Long-term Debt |  |  |  |  |  |  |  |  |
Proceeds from loan increment, net of debt issuance costs |  |  |  |  | $ 34,603 |  |  |  |
2016 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member] |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Outstanding debt |  | $ 20,000 |  |  |  |  |  |  |
Back-end fees due |  |  |  |  |  |  |  |  | $ 1,000
2018 Amended Facility | Hercules |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Aggregate amount of Equity Financing |  |  |  |  | 90,000 |  |  |  |
Foreign currency gain |  |  |  | $ 1,500 |  |  |  |  |
2018 Amended Facility | Hercules | Second Amended and Restated Loan and Security Agreement [Member] |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Interest rate (as a percent) |  | 8.85% |  |  |  |  |  |  |
Back-end fee (as a percent) |  | 4.95% |  |  |  |  |  |  |
Proceeds from loan increment, net of debt issuance costs |  | $ 15,000 |  |  |  |  |  |  |
2018 Amended Facility | Prime Rate | Hercules | Second Amended and Restated Loan and Security Agreement [Member] |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Variable interest rate basis |  | 8.85% |  |  |  |  |  |  |
Discount rate (as a percent) |  | 5.50% |  |  |  |  |  |  |
2021 Amended Facility |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Outstanding debt | $ 35,000 |  |  |  |  |  |  |  |
Proceed from drew down | $ 35,000 |  |  |  |  |  |  |  |
Interest rate (as a percent) | 8.25% |  |  |  |  |  |  |  |
Back-end fee (as a percent) | 4.85% |  |  |  |  |  |  |  |
Maximum borrowing capacity | $ 135,000 |  |  |  |  |  |  |  |
Additional unconditional borrowing capacity | $ 100,000 |  |  |  |  |  |  |  |
2021 Amended Facility | Prime Rate |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Variable interest rate basis | 3.25% |  |  |  |  |  |  |  |
2018 and 2021 Amended Facility | Hercules |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Foreign currency loss |  |  | $ 1,800 |  | $ 4,000 |  |  |  |
Foreign currency gain |  |  |  |  |  | $ 1,500 |  |  |
Venture debt loan facility | 2018 Amended Facility |  |  |  |  |  |  |  |  |
Aggregate maturities of loan |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  | $ 35,900 |
Venture debt loan facility | 2018 Amended Facility | Hercules |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Interest expense recorded |  |  |  | $ 900 |  |  |  |  |
Venture debt loan facility | 2018 and 2021 Amended Facility |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Minimum cash and cash equivalents in U.S. bank accounts |  |  |  |  | 65.00% |  |  |  |
Assets pledged to secure facilities by directly or indirectly |  |  |  |  | $ 774,600 |  |  |  |
Assets not being pledged to secure facilities by directly or indirectly |  |  |  |  | 103,500 |  |  |  |
Aggregate maturities of loan |  |  |  |  |  |  |  |  |
Long-term debt |  |  | 71,600 |  | 71,600 |  |  |  |
Venture debt loan facility | 2018 and 2021 Amended Facility | Hercules |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Interest expense recorded |  |  | $ 1,900 |  | $ 5,200 | $ 2,700 |  |  |
Subsequent events. | 2021 Amended Facility |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Outstanding debt |  |  |  |  |  |  | $ 65,000 |  |
Subsequent events. | 2021 Amended Facility | Minimum |  |  |  |  |  |  |  |  |
Long-term Debt |  |  |  |  |  |  |  |  |
Outstanding debt |  |  |  |  |  |  | $ 20,000 |  |

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- Definition The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(22)) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-03(16)) -URI http://asc.fasb.org/extlink&oid=120398452&loc=d3e534808-122878 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-03(16)) -URI http://asc.fasb.org/extlink&oid=120400017&loc=d3e572229-122910 + Details
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