Quarterly report pursuant to Section 13 or 15(d)

Borrowings - 2018 Term Loan (Details)

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Borrowings - 2018 Term Loan (Details) - USD ($)
3 Months Ended
Feb. 18, 2021
Sep. 28, 2018
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Debt Instrument [Line Items]          
Non-current restricted cash     $ 3,443,000 $ 3,570,000 $ 3,440,000
Gain on extinguishment of debt, net     1,574,000 $ 0  
Term loan | 2018 Term Loan          
Debt Instrument [Line Items]          
Debt term (in years)   3 years      
Principal amount   $ 60,000,000.0      
Non-current restricted cash     $ 3,400,000    
Voluntary principal payment, period following closing date     6 months    
Voluntary principal payment amount (minimum)     $ 5,000,000.0    
Voluntary principal payment, integral amount     $ 1,000,000.0    
Repayments of debt principal $ 43,000,000.0        
Gain on extinguishment of debt, net $ (500,000)