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Debt - Squadron Medical Credit Agreement (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Aug. 10, 2021
Nov. 06, 2018
Dec. 31, 2020
Dec. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Line Of Credit Facility [Line Items]            
Issuance of common stock         139,257,000 106,673,000
Gain (loss) on debt extinguishment       $ (7,434)    
Number of warrants outstanding         8,219,000  
Squadron Medical Term Loan            
Line Of Credit Facility [Line Items]            
Issuance of common stock     2,700,270      
Common stock price per share     $ 11.11      
Additional debt issuance costs     $ 3,800      
New debt issuance costs     30,000      
Gain (loss) on debt extinguishment   $ (6,100)   $ (11,700)    
Debt instrument capitalized non-cash costs   $ 3,800        
Repaid of outstanding principal $ 45,000          
Accrued interest $ 200          
Squadron Medical Term Loan | Common Stock | Participant Lender            
Line Of Credit Facility [Line Items]            
Number of warrants outstanding           6,759,530
Squadron Medical Term Loan | Term Loan            
Line Of Credit Facility [Line Items]            
Additional line of credit     $ 15,000      
Debt instrument, maturity date     Jun. 30, 2026      
Secured debt agreement     $ 30,000