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Convertible Promissory Notes - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Oct. 29, 2019
May 31, 2019
Apr. 30, 2019
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2018
Frazier Convertible Note Financing            
Debt Instrument [Line Items]            
Aggregate amount of debt instrument     $ 2,400,000      
Debt instrument issued, amount     $ 500,000     $ 1,900,000
Interest expense       $ 0 $ 11,000  
Frazier Convertible Note Financing | Other Income (Expense)            
Debt Instrument [Line Items]            
Increases (decreases) in fair value of debt instrument       $ 0 $ 14,000  
Frazier Convertible Note Financing | Minimum            
Debt Instrument [Line Items]            
Debt instrument, interest rate percentage     1.68%      
Frazier Convertible Note Financing | Maximum            
Debt Instrument [Line Items]            
Debt instrument, interest rate percentage     2.55%      
May 2019 Convertible Note Financing            
Debt Instrument [Line Items]            
Aggregate amount of debt instrument   $ 90,300,000        
Debt instrument, interest rate percentage   6.00%        
Fair value of convertible promissory notes   $ 2,400,000        
Proceeds from issuance of unsecured debt   87,800,000        
May 2019 Convertible Note Financing | Common Stock            
Debt Instrument [Line Items]            
Debt instrument conversion, shares issued 6,107,918          
May 2019 Convertible Note Financing | Frazier            
Debt Instrument [Line Items]            
Debt instrument purchased amount   $ 20,000,000