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Debt (Details) - USD ($)
9 Months Ended
Dec. 20, 2019
Sep. 17, 2018
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Debt Instrument [Line Items]          
Borrowings under line of credit     $ 0    
Credit Agreement Amendment          
Debt Instrument [Line Items]          
Debt issuance costs         $ 500,000
Revolving Credit Facility          
Debt Instrument [Line Items]          
Borrowing capacity $ 75,000,000 $ 40,000,000      
Commitment fee percentage   0.50%      
Facility fee percentage 0.50% 1.75%      
Maximum borrowing capacity $ 75,000,000 $ 40,000,000      
Covenant, minimum cash and cash equivalents 6,000,000 6,000,000      
Covenant, maximum cash and cash equivalents 11,300,000        
Minimum liquidity 10,000,000        
Maximum liquidity $ 18,800,000        
Debt issuance costs   1,200,000      
Revolving Credit Facility | Credit Agreement Amendment          
Debt Instrument [Line Items]          
Debt issuance costs     $ 500,000 $ 700,000  
Letter of Credit          
Debt Instrument [Line Items]          
Borrowing capacity   $ 5,000,000      
Eligible Commissions Receivables, Preceding Three Months | Revolving Credit Facility          
Debt Instrument [Line Items]          
Borrowing base percentage     80.00%    
Eligible Commissions Receivables, Succeeding Three Months | Revolving Credit Facility          
Debt Instrument [Line Items]          
Borrowing base percentage     80.00%    
Eligible Commissions Receivables, Succeeding Six Months | Revolving Credit Facility          
Debt Instrument [Line Items]          
Borrowing base percentage     50.00%