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Debt Obligations (Details)
1 Months Ended 12 Months Ended
May 31, 2023
Jun. 30, 2023
USD ($)
$ / shares
Rate
shares
Dec. 31, 2029
USD ($)
Dec. 31, 2028
USD ($)
Dec. 31, 2027
USD ($)
Dec. 31, 2024
USD ($)
d
Rate
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
$ / shares
shares
Mar. 31, 2022
USD ($)
Line of Credit Facility [Line Items]                  
Long-term debt, net           $ 100,298,000 $ 99,508,000    
Other debt financing fees           (1,307,000) 0 $ 0  
Term Loan | Oxford Finance LLC Term Loans | Line of Credit                  
Line of Credit Facility [Line Items]                  
Term loan borrowing capacity                 $ 150,000,000
Long-term debt, net           100,300,000      
Unamortized discount on debt           6,700,000      
Other debt financing fees           1,300,000      
Exit fee payment           $ 7,000,000      
Exit fee percentage | Rate           7.00%      
Term for exercise of warrants           5 years      
Interest-only payment period           60 months      
Line of Credit Facility, Prepayment Fee Percentage           3.00%      
Incremental interest rate | Rate   0.10%              
Weighted average interest rate 8.01%         12.10%      
Interest expense           $ (14,800,000) (11,600,000) (2,800,000)  
Amortization of discount and related debt costs           $ 1,800,000 $ 1,500,000 600,000  
Debt Instrument, Covenant Compliance, Cash and Investments Balance, Minimum Percentage           5000.00%      
Minimum required cash and investments balance           $ 10      
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | LIBOR                  
Line of Credit Facility [Line Items]                  
Basis spread on variable rate 7.90%                
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Forecast                  
Line of Credit Facility [Line Items]                  
Debt payments     $ 20,000,000 $ 52,200,000 $ 34,800,000        
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche                  
Line of Credit Facility [Line Items]                  
Term loan funded               $ 25,000,000  
Warrants outstanding (in shares) | shares               420,673  
Exercise price of warrants (in dollars per share) | $ / shares               $ 2.08  
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | First Tranche | SOFR                  
Line of Credit Facility [Line Items]                  
Basis spread on variable rate   7.90%              
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche                  
Line of Credit Facility [Line Items]                  
Term loan funded               $ 25,000,000  
Warrants outstanding (in shares) | shares               224,128  
Exercise price of warrants (in dollars per share) | $ / shares               $ 1.95  
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Second Tranche | SOFR                  
Line of Credit Facility [Line Items]                  
Basis spread on variable rate   7.90%              
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third Tranche                  
Line of Credit Facility [Line Items]                  
Term loan funded   $ 50,000,000              
Warrants outstanding (in shares) | shares   183,824              
Exercise price of warrants (in dollars per share) | $ / shares   $ 2.38              
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Third Tranche | SOFR                  
Line of Credit Facility [Line Items]                  
Basis spread on variable rate | Rate   7.00%              
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche                  
Line of Credit Facility [Line Items]                  
Remaining term loan funding           $ 25,000,000      
Warrant, percentage of fourth tranche | Rate           1.75%      
Number of days to determine average closing price of warrant shares | d           10      
Minimum required cash and investments balance           $ 25,000,000      
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fourth Tranche | SOFR                  
Line of Credit Facility [Line Items]                  
Basis spread on variable rate | Rate   7.00%              
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Fifth Tranche                  
Line of Credit Facility [Line Items]                  
Remaining term loan funding           $ 25,000,000      
Term Loan | Oxford Finance LLC Term Loans | Line of Credit | Debt Instrument Redemption Period One and Two                  
Line of Credit Facility [Line Items]                  
Term loan funded               $ 50,000,000