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Convertible Subordinated Notes (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Mar. 12, 2021
Dec. 31, 2020
Sep. 09, 2020
Mar. 19, 2014
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes            
Credit Facility amortization of debt issuance costs $ 193,000 $ 200,000        
Accumulated Amortization, Debt Issuance Costs $ 937,000     $ 819,000    
Convertible Subordinated Notes [Member]            
Debt Instrument [Line Items]            
Debt Instrument, Discount Rate   11.40%        
Debt Instrument, Unamortized Debt Issuance Costs 3.10% 3.20%        
Stated interest rate percentage           2.75%
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes            
Convertible subordinated notes, principal amount       2,559,000    
Unamortized discount of liability component $ 0     (20,000)    
Debt issuance costs 0     (1,000)    
Carrying value of the liability component 0   $ 200,000 2,538,000 $ 0  
Carrying value of the equity component 0     319,000    
Contractual coupon interest expense 18,000 $ 43,000        
Accretion of discount, convertible subordinated notes 20,000 65,000        
Credit Facility amortization of debt issuance costs 1,000 $ 6,000        
Accumulated Amortization, Debt Issuance Costs $ 64,000     $ 63,000