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Debt (Details) - USD ($)
1 Months Ended 12 Months Ended
Nov. 15, 2018
May 31, 2018
Aug. 31, 2019
May 31, 2018
Oct. 31, 2016
Dec. 31, 2020
Dec. 31, 2018
Debt Instrument              
Loss on early extinguishment of debt           $ 13,374,000 $ 12,993,000
Outstanding borrowings           236,288,000  
Outstanding warrants to purchase common stock              
Debt Instrument              
Total fair value of warrants       $ 1,400,000      
CRG Loan              
Debt Instrument              
Proceeds from issuance of debt   $ 45,000,000.0     $ 80,000,000.0    
Loss on early extinguishment of debt $ 13,000,000.0            
CRG Loan | Outstanding warrants to purchase common stock              
Debt Instrument              
Warrant exercise price (in USD per share)   $ 23.00   $ 23.00      
CRG Loan | Outstanding warrants to purchase common stock | Maximum              
Debt Instrument              
Shares of common stock right to purchase by warrant (in shares)   200,000   200,000      
Line of Credit Agreement              
Debt Instrument              
Maximum borrowing capacity     $ 50,000,000.0     50,000,000.0  
Basis for variable rate     5.50%        
Debt termination fee     $ 1,000,000.0        
Payment of initial commitment fee     150,000        
Additional commitment fees payable each of the first and second anniversaries of the closing date     $ 150,000        
Outstanding borrowings           $ 0  
Line of Credit Agreement | Maximum              
Debt Instrument              
Borrowing option - percentage of eligible accounts receivable     85.00%     85.00%  
Convertible Debt | Convertible Notes              
Debt Instrument              
Convertible Notes initially issued $ 210,000,000.0