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Convertible Notes and Credit Facility - Narrative (Details) $ / shares in Units, shares in Thousands |  | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Apr. 21, 2020 USD ($) | Nov. 30, 2019 USD ($) $ / shares | Aug. 31, 2018 USD ($) | Mar. 31, 2018 USD ($) $ / shares | Feb. 28, 2014 USD ($) | Sep. 30, 2020 USD ($) $ / shares | Dec. 31, 2019 USD ($) $ / shares | Sep. 30, 2019 USD ($) | Mar. 31, 2019 USD ($) shares | Sep. 30, 2020 USD ($) $ / shares | Sep. 30, 2019 USD ($) | Feb. 28, 2019 USD ($) | Mar. 12, 2018 USD ($)
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value (usd per share) | $ / shares |  |  |  |  |  | $ 0.001 | $ 0.001 |  |  | $ 0.001 |  |  |
Equity issuance costs |  |  |  |  |  | $ 180,000 |  |  |  |  |  |  |
Loss on extinguishment of debt |  |  |  |  |  | 0 |  | $ 0 |  | $ 0 | $ 9,000,000 |  |
Proceeds from issuance of common stock from at-the-market offering, net of commissions |  |  |  |  |  |  |  |  |  | 20,226,000 | $ 0 |  |
Commitment fee amount | $ 112,500 |  |  |  |  |  |  |  |  |  |  |  |
Prepayment fee, percentage | 0.25% |  |  |  |  |  |  |  |  |  |  |  |
Revolving Credit Facility |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  | 15,000,000.0 |  |  |  | 15,000,000.0 |  |  |
Maximum ability to borrow under line of credit |  |  | $ 15,000,000.0 |  |  |  |  |  |  |  |  |  |
Percentage of eligible receivables |  |  | 85.00% |  |  |  |  |  |  |  |  |  |
Percentage of eligible inventory |  |  | 50.00% |  |  |  |  |  |  |  |  |  |
Line of credit outstanding |  |  |  |  |  | 0 |  |  |  | $ 0 |  |  |
Percentage of interest on obligation upon default |  |  |  |  |  |  |  |  |  | 5.00% |  |  |
Revolving Credit Facility | Minimum | Prime Rate |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Additional interest rate |  |  | 0.50% |  |  |  |  |  |  |  |  |  |
Revolving Credit Facility | Maximum | Prime Rate |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Additional interest rate |  |  | 5.50% |  |  |  |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of debt into common stock (shares) | shares |  |  |  |  |  |  |  |  | 19,460 |  |  |  |
Convertible Debt |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  | 56,079,000 | $ 56,079,000 |  |  | $ 56,079,000 |  |  |
Convertible Debt | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock from at-the-market offering, net of commissions |  |  |  |  |  |  |  |  | $ 133,300,000 |  |  |  |
Convertible Debt | Senior Convertible Notes due 2034 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  | $ 201,300,000 | 1,079,000 | 1,079,000 |  |  | 1,079,000 |  |  |
Proceeds from convertible debt issuance |  |  |  |  | 195,200,000 |  |  |  |  |  |  |  |
Debt issuance costs |  |  |  |  | $ 1,100,000 | 4,000 | 4,000 |  |  | 4,000 |  |  |
Effective interest rate |  |  |  |  | 3.00% |  |  |  |  |  |  |  |
Long-term debt, principal amount |  | $ 1,100,000 |  | $ 51,300,000 |  | 1,079,000 | 1,079,000 |  |  | 1,079,000 |  |  |
Interest rate on notes |  |  |  | 2.75% | 2.75% |  |  |  |  |  |  |  |
Proceeds from debt issuance |  | 52,700,000 |  |  |  |  |  |  |  |  |  |  |
Debt extinguished |  | $ 50,200,000 |  |  |  |  |  |  |  |  |  |  |
Convertible Debt | Senior Convertible Notes due 2034 | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of debt into common stock (shares) | shares |  |  |  |  |  |  |  |  | 19,500 |  |  |  |
Convertible Debt | Exchange Convertible Senior Notes due 2034 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  | $ 150,000,000.0 |  |  |  |  |  |  |  |  |
Effective interest rate |  |  |  | 12.30% |  |  |  |  |  |  |  |  |
Long-term debt, principal amount |  |  |  | $ 150,000,000.0 |  |  |  |  |  |  |  |  |
Estimated fair value of debt |  |  |  |  |  |  |  |  |  |  |  |  | $ 145,500,000
Interest rate on notes |  |  |  | 2.75% |  |  |  |  |  |  |  |  |
Initial conversion rate of notes |  | 0.3448276 |  | 0.1269438 |  |  |  |  |  |  |  |  |
Common stock, par value (usd per share) | $ / shares |  |  |  | $ 0.001 |  |  |  |  |  |  |  |  |
Initial conversion price of stock (usd per share) | $ / shares |  | $ 2.90 |  | $ 7.88 |  |  |  |  |  |  |  |  |
Debt redemption conditioned upon common stock value exceeding a percentage of the conversion price |  |  |  | 110.00% |  |  |  |  |  |  |  |  |
Debt and equity offering costs |  |  |  | $ 2,800,000 |  |  |  |  |  |  |  |  |
Offering related costs |  |  |  | 2,200,000 |  |  |  |  |  |  |  |  |
Equity issuance costs |  |  |  | $ 600,000 |  |  |  |  |  |  |  |  |
Maximum ability to borrow under line of credit |  |  |  |  |  |  |  |  |  |  |  | $ 150,000,000.0 |
Loss on extinguishment of debt |  |  |  |  |  |  | 3,000,000.0 |  | $ 9,000,000.0 |  |  |  |
Convertible Debt | Exchange Convertible Senior Notes due 2034 | Redemption, Period One |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Debt redemption conditioned upon common stock value exceeding a percentage of the conversion price |  | 150.00% |  |  |  |  |  |  |  |  |  |  |
Convertible Debt | Exchange Convertible Senior Notes due 2034 | Redemption, Period Two |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Debt redemption conditioned upon common stock value exceeding a percentage of the conversion price |  | 130.00% |  |  |  |  |  |  |  |  |  |  |
Convertible Debt | Exchange Convertible Senior Notes due 2034 | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of debt into common stock (shares) | shares |  |  |  |  |  |  |  |  | 19,500 |  |  |  |
Convertible Debt | Exchange Convertible Senior Notes due 2034 | Trustee |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum ability to borrow under line of credit |  |  |  |  |  |  |  |  | $ 138,100,000 |  |  | $ 11,900,000 |
Loss on extinguishment of debt |  |  |  |  |  |  |  |  | $ 9,000,000.0 |  |  |  |
Convertible Debt | Senior Convertible Notes Due 2024 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Principal amount |  | $ 55,000,000.0 |  |  |  | 55,000,000 | 55,000,000 |  |  | 55,000,000 |  |  |
Debt issuance costs |  |  |  |  |  | 1,937,000 | 2,236,000 |  |  | 1,937,000 |  |  |
Effective interest rate |  | 6.20% |  |  |  |  |  |  |  |  |  |  |
Long-term debt, principal amount |  |  |  |  |  | $ 55,000,000 | $ 55,000,000 |  |  | $ 55,000,000 |  |  |
Interest rate on notes |  | 5.25% |  |  |  |  |  |  |  |  |  |  |
Offering related costs |  | $ 2,300,000 |  |  |  |  |  |  |  |  |  |  |
Debt extinguished |  | $ 51,800,000 |  |  |  |  |  |  |  |  |  |  |

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