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Debt and Other Long-term Liabilities - Xcel Loan Narrative (Details) |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Mar. 31, 2019 USD ($) | Feb. 11, 2019 USD ($) loan | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Feb. 10, 2019 USD ($) | Jan. 01, 2019 USD ($) | Sep. 29, 2011 USD ($)
Debt |  |  |  |  |  |  |
Long-term Debt, Gross |  |  | $ 16,750,000 | $ 19,000,000 |  |  |
Loss on extinguishment of debt |  |  |  | (189,000) |  |  |
financing fees |  |  | 27,000 | 315,000 |  |  |
Interest expense |  |  | 1,193,000 | 1,285,000 |  |  |
Other long-term liabilities |  |  | 224,000 | $ 224,000 |  |  |
Debt Instrument, Fee Amount |  |  | 27,000 |  |  |  |
Xcel Term Loan |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Long-term Debt, Gross |  |  | $ 16,750,000 |  | $ 14,500,000 |  |
Face amount of loan |  | $ 22,000,000 |  |  |  |  |
Number of term loans | loan |  | 2 |  |  |  |  |
Proceeds from Issuance of Debt |  | $ 7,500,000 |  |  |  |  |
Capacity available to convert to incremental term loans |  | 5,000,000 |  |  |  |  |
Effective interest rate (as percentage) |  |  | 6.60% | 6.70% |  |  |
Interest expense |  |  | $ 1,100,000 | $ 1,200,000 |  |  |
Xcel Term Loan A |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Face amount of loan |  | $ 7,300,000 |  |  |  |  |
Stated interest rate (as percentage) |  | 5.10% |  |  |  |  |
Xcel Term Loan B |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Face amount of loan |  | $ 14,700,000 |  |  |  |  |
Stated interest rate (as percentage) |  | 6.25% |  |  |  |  |
IM Term Loan |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Long-term Debt, Gross |  |  |  | 0 |  |  |
Face amount of loan |  |  |  |  |  |  | $ 7,400,000
Principal payment | $ 750,000 |  |  |  |  |  |
Interest expense |  |  |  | 4,000 |  |  |
Ripka Seller Note |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Interest expense |  |  |  | 16,000 |  |  |
Accounts and Notes Receivable, Net | 900,000 |  |  |  |  |  |
Balance of note payable | 600,000 |  |  | 0 |  | $ 580,000 |
Debt Conversion Converted Instrument Amount 2 | $ 100,000 |  |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Loss on extinguishment of debt |  |  |  | (200,000) |  |  |
Minimum net worth required to meet loan covenant |  | $ 90,000,000 |  |  |  |  |
financing fees |  |  | $ 30,000 | $ 300,000 |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | Through December 31, 2020 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Minimum liquid assets to meet loan covenants |  | 3,000,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | Fiscal quarters ending March 31, 2021 through September 30, 2021 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Minimum liquid assets to meet loan covenants |  | 2,500,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | Fiscal quarter ending December 31, 2021 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Minimum liquid assets to meet loan covenants |  | 3,000,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | After December 31 2021 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Minimum liquid assets to meet loan covenants |  | 5,000,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | Fiscal year ending December 31, 2020 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Maximum capital expenditures required to meet loan covenants |  | 1,600,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Xcel Term Loan | Fiscal year beginning after December 31, 2020 |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Maximum capital expenditures required to meet loan covenants |  | 700,000 |  |  |  |  |
Second Amended And Restated Loan And Security Agreement | Additional Term Loan |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Face amount of loan |  | $ 7,500,000 |  |  |  |  |
Revolving Credit Facility | Xcel Term Loan | Base Rate |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Basis spread on variable rate |  | 2.00% |  |  |  |  |
Revolving Credit Facility | Xcel Term Loan B | Base Rate |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Termination fee percentage |  | 2.00% |  |  |  |  |
Debt Termination Period, On Or Before Second Anniversary | Xcel Term Loan A |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Termination fee percentage |  | 1.00% |  |  |  |  |
Debt Termination Period, After Second Anniversary But Before Third Anniversary | Xcel Term Loan A |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Termination fee percentage |  | 0.50% |  |  |  |  |
Debt Termination Period, After Second Anniversary But Before Third Anniversary | Xcel Term Loan B |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Termination fee percentage |  | 1.00% |  |  |  |  |
Debt Termination Period, After Third Anniversary | Xcel Term Loan |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |
Termination fee percentage |  | 0.00% |  |  |  |  |

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