Indebtedness - Additional Information (Details)
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12 Months Ended |
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Sep. 17, 2021
USD ($)
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Jul. 24, 2020
USD ($)
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Sep. 30, 2019
USD ($)
Tranche
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Dec. 31, 2021
USD ($)
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Dec. 31, 2020
USD ($)
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Sep. 16, 2021
USD ($)
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| Debt Instrument [Line Items] |
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| Advanced amount under term loan |
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$ 15,000,000
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| Interest expense |
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$ 2,696,000
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1,906,000
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| Loan Agreement | Term Loan | Hercules |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
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5,000,000.0
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$ 75,000,000.0
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| Number of tranches | Tranche |
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4
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| Advanced amount under term loan |
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$ 25,000,000.0
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| Debt instrument, interest only payment end date |
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Nov. 01, 2022
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| Debt instrument repayment end date |
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Oct. 01, 2024
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| Debt instrument, end of term payment charge on funded amount percentage |
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5.50%
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| Loan carrying value |
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$ 15,000,000.0
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$ 9,500,000
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25,400,000
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25,000,000.0
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| Loan Agreement | Term Loan | Hercules | Maximum |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
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75,000,000.0
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| Loan Agreement | Term Loan | Hercules | Second Tranche |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
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10,000,000.0
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| Loan Agreement | Term Loan | Hercules | First Tranche |
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| Debt Instrument [Line Items] |
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| Advanced amount under term loan |
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$ 15,000,000.0
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10,000,000
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| Amount payable upon any prepayment or repayment |
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1,400,000
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| Loan Agreement | Term Loan | Hercules | Third Tranche |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
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10,000,000.0
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| Loan Agreement | Term Loan | Hercules | Fourth Tranche |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
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$ 30,000,000.0
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| Amended Loan Agreement | Term Loan | Hercules |
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| Debt Instrument [Line Items] |
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| Debt instrument, covenants, obligated to maintain account cover amount percentage |
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110.00%
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| Interest expense |
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$ 2,700,000
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$ 1,900,000
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| Amended Loan Agreement | Term Loan | Hercules | Second Tranche |
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| Debt Instrument [Line Items] |
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| Interest rate |
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1.50%
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| Amended Loan Agreement | Term Loan | Hercules | First Tranche |
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| Debt Instrument [Line Items] |
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| Interest rate |
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2.00%
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| Amended Loan Agreement | Term Loan | Hercules | Third Tranche |
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| Debt Instrument [Line Items] |
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| Interest rate |
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1.00%
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| Amended Loan Agreement | Amended Term Loan | Hercules |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
$ 85,000,000.0
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| Debt instrument, interest rate terms |
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Advances under the Amended Term Loan Facility bear interest at a rate equal to the greater of (i) 8.25% plus the Prime Rate (as reported in The Wall Street Journal) less 3.25%, and (ii) 8.25%.
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| Interest rate |
8.25%
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| Debt instrument, interest only payment end date |
Oct. 01, 2023
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| Debt instrument, interest only payment extendable end date |
Oct. 01, 2024
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| Debt instrument repayment end date |
Oct. 01, 2025
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| Debt instrument, end of term payment charge on funded amount percentage |
5.50%
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| Amended Loan Agreement | Amended Term Loan | Hercules | Prime Rate |
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| Debt Instrument [Line Items] |
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| Variable interest rate |
8.25%
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| Reduced from variable interest rate |
3.25%
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| Amended Loan Agreement | Amended Term Loan | Hercules | Third Tranche |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
$ 10,000,000.0
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| Amended Loan Agreement | Amended Term Loan | Hercules | Fourth Tranche |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
30,000,000.0
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| Amended Loan Agreement | Amended Term Loan | Hercules | Fifth Tranche |
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| Debt Instrument [Line Items] |
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| Debt instrument, available in minimum draws |
5,000,000.0
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| Amended Loan Agreement | Amended Term Loan | Hercules | Fifth Tranche | Maximum |
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| Debt Instrument [Line Items] |
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| Aggregate principal amount |
$ 20,000,000.0
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