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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands | Total | Previously Reported | Revision of Prior Period, Accounting Standards Update, Adjustment | Common Stock [Member] | Common Stock [Member] Previously Reported | Additional Paid-in Capital [Member] | Additional Paid-in Capital [Member] Previously Reported | Accumulated Deficit [Member] | Accumulated Deficit [Member] Previously Reported | Accumulated Deficit [Member] Revision of Prior Period, Accounting Standards Update, Adjustment | Accumulated Other Comprehensive Loss [Member] | Accumulated Other Comprehensive Loss [Member] Previously Reported | Convertible Note due 2020 [Member] | Convertible Note due 2020 [Member] Additional Paid-in Capital [Member] | Conversion Note 2022 [Member] | Conversion Note 2022 [Member] Additional Paid-in Capital [Member] | Convertible Note due 2024 [Member] | Convertible Note due 2024 [Member] Additional Paid-in Capital [Member]
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance, Shares at Dec. 31, 2017 |  |  |  | 82,554 | 82,554 |  |  |  |  |  |  |  |  |  |  |  |  |
Balance, Shares at Dec. 31, 2018 |  |  |  | 87,057 | 87,057 |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2017 | $ 229,774 | $ 218,343 | $ 11,431 | $ 83 | $ 83 | $ 2,272,690 | $ 2,272,690 | $ (2,046,381) | $ (2,057,812) | $ 11,431 | $ 3,382 | $ 3,382 |  |  |  |  |  |
Net loss | (21,035) |  |  |  |  |  |  | (21,035) |  |  |  |  |  |  |  |  |  |
Other Comprehensive income or loss, net of tax | (4,598) |  |  |  |  |  |  |  |  |  | (4,598) |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans | 4,717 |  |  | $ 4 |  | 4,713 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans, Shares |  |  |  | 4,503 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation | 17,097 |  |  |  |  | 17,097 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of warrant | 2,295 |  |  |  |  | 2,295 |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2018 | 229,650 | $ 228,250 | $ 1,400 | $ 87 | $ 87 | 2,296,795 | $ 2,296,795 | (2,066,016) | $ (2,067,416) | $ 1,400 | (1,216) | $ (1,216) |  |  |  |  |  |
Balance, Shares at Dec. 31, 2019 |  |  |  | 91,875 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (5,924) |  |  |  |  |  |  | (5,924) |  |  |  |  |  |  |  |  |  |
Other Comprehensive income or loss, net of tax | (1,849) |  |  |  |  |  |  |  |  |  | (1,849) |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans | 6,914 |  |  | $ 4 |  | 6,910 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans, Shares |  |  |  | 4,014 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation | 12,156 |  |  |  |  | 12,156 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of warrant | 16,142 |  |  |  |  | 16,142 |  |  |  |  |  |  |  |  |  |  |  |
Exercise of warrants |  |  |  | 804 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise of warrant, Amount |  |  |  | $ 1 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Adjustments to Additional Paid in Capital - Exercise of Warrants | 0 |  |  |  |  | (1) |  |  |  |  |  |  |  |  |  |  |  |
Adjustments to APIC - Reclassification from Equity to Mezzanine equity |  |  |  |  |  |  |  |  |  |  |  |  | $ (2,410) | $ (2,410) |  |  |  |
Portion of repurchase price recorded in additional paid-in capital in connection with partial repurchase of 2020 Notes |  |  |  |  |  |  |  |  |  |  |  |  | (27,111) | (27,111) |  |  |  |
Conversion feature of 2024 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 24,878 | $ 24,878
Balance at Dec. 31, 2019 | 252,446 |  |  | $ 92 |  | 2,327,359 |  | (2,071,940) |  |  | (3,065) |  |  |  |  |  |  |
Balance, Shares at Dec. 31, 2020 |  |  |  | 98,204 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (29,271) |  |  |  |  |  |  | (29,271) |  |  |  |  |  |  |  |  |  |
Other Comprehensive income or loss, net of tax | 8,921 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans | 3,810 |  |  | $ 3 |  | 3,807 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of Common Stock under option, stock award and purchase plans, Shares |  |  |  | 3,822 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation | 18,034 |  |  |  |  | 18,034 |  |  |  |  |  |  |  |  |  |  |  |
Issuance of warrant | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise of warrants |  |  |  | 2,413 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise of warrant, Amount |  |  |  | $ 2 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Adjustments to Additional Paid in Capital - Exercise of Warrants | 0 |  |  |  |  | (2) |  |  |  |  |  |  |  |  |  |  |  |
Adjustment to APIC - Reclassification from Mezzanine Equity to Equity |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,410 | $ 2,410 |  |  |  |
Portion of repurchase price recorded in additional paid-in capital in connection with partial repurchase of 2020 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (6,909) | $ (6,909) |  |
Stock Issued During Period, Value, Conversion of Convertible Securities | 607 |  |  | $ 1 |  | 606 |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Conversion of Convertible Securities |  |  |  | 94 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion feature of 2024 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 8,254 | $ 8,254 |  |
Balance at Dec. 31, 2020 | $ 258,302 |  |  | $ 98 |  | $ 2,353,559 |  | $ (2,101,211) |  |  | $ 5,856 |  |  |  |  |  |  |

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