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Term Loan Obligations - Additional Information (Details) - USD ($)
12 Months Ended
May 29, 2015
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Interest expense   $ 711,000 $ 932,000
Non-cash amortization   $ 400,000 $ 500,000
LIBOR [Member] | Interest Rate Floor [Member]      
Debt Instrument [Line Items]      
Basis variable rate 1.00%    
Term Loan [Member]      
Debt Instrument [Line Items]      
Origination date   May 29, 2015 May 29, 2015
Original loan amount $ 17,700,000 $ 17,700,000 $ 17,700,000
Basis variable rate 7.95%    
Maturity date May 01, 2021    
Fees amount associated with loan $ 3,200,000 $ 3,200,000  
Number of shares callable by warrants (in shares) 188    
Warrant exercise price (in dollars per share) $ 5,175    
Date from which warrants are exercisable   Nov. 30, 2015  
Warrant expiration date   May 29, 2025  
Debt instrument, covenant compliance   the Company was in compliance with all of the debt covenants under the Loan and Security Agreement.  
Term Loan [Member] | Minimum [Member]      
Debt Instrument [Line Items]      
Interest rate 8.95%    
Term Loan [Member] | Maximum [Member]      
Debt Instrument [Line Items]      
Original loan amount   $ 3,000,000  
Long term debt outstanding threshold amount   $ 2,400,000