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Debt - Schedule of Debt (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Jun. 30, 2015
Debt Instrument [Line Items]            
Debt, gross $ 33,714   $ 33,714      
Less: discount (79) $ (1,087) (79) $ (1,087)    
Accretion of interest 19 0 20 0 $ 0  
Total debt, net carrying value 33,654 37,039 33,654 37,039    
Less: current portion of debt (742) (19,712) (742) (19,712)    
Total debt, less current portion 32,912 17,327 32,912 17,327    
Notes Payable            
Debt Instrument [Line Items]            
Debt, gross 1,120 25,626 1,120 25,626    
Total debt, net carrying value 1,041 24,539 1,041 24,539    
Notes Payable | 2014 Loan and Security Agreement            
Debt Instrument [Line Items]            
Debt, gross 0 20,000 0 20,000    
Notes Payable | 2013 Loan and Security Agreement            
Debt Instrument [Line Items]            
Debt, gross 0 2,500 0 2,500    
Notes Payable | Promissory Note to USAC            
Debt Instrument [Line Items]            
Debt, gross 120 1,459 120 1,459    
Notes Payable | FCC Civil Penalty            
Debt Instrument [Line Items]            
Debt, gross 1,000 1,667 1,000 1,667    
Less: discount           $ (300)
Total debt, net carrying value 900   900      
Line of Credit            
Debt Instrument [Line Items]            
Debt, gross $ 32,594 $ 12,500 $ 32,594 $ 12,500