Quarterly report pursuant to Section 13 or 15(d)

Borrowings - 2018 Term Loan (Details)

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Borrowings - 2018 Term Loan (Details) - USD ($)
6 Months Ended
Sep. 28, 2018
Jun. 30, 2020
Dec. 31, 2019
Jun. 30, 2019
May 23, 2019
Debt Instrument [Line Items]          
Non-current restricted cash   $ 3,467,000 $ 3,867,000 $ 17,968,000  
2019 Term Loan, due May 2020 (2) | Term loan          
Debt Instrument [Line Items]          
Principal amount $ 60,000,000.0       $ 60,000,000.0
Term loan | 2018 Term Loan          
Debt Instrument [Line Items]          
Debt term (in years) 3 years        
Non-current restricted cash   3,500,000      
Minimum aggregate principal payment   5,000,000      
Borrowings principal repayment (Note 9)   1,000,000      
Fair value of term loan   $ 56,200,000