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Summary of Significant Accounting Policies - Narrative (Details) - USD ($)
shares in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Mar. 31, 2020
Nov. 30, 2019
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Mar. 31, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Sep. 28, 2020
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2018
Mar. 31, 2018
Feb. 28, 2014
Schedule Of Significant Accounting Policies [Line Items]                              
Total revenue     $ 39,861,000   $ 26,496,000   $ 93,536,000 $ 84,803,000              
Legal fees $ 400,000                            
Product warranty term             1 year                
Impairment of goodwill     0   0   $ 0 0              
Maximum contract value                   $ 34,000,000.0          
Loss on extinguishment of debt     0   0   $ 0 9,000,000              
Accounting Standards Update [Extensible List]             us-gaap:AccountingStandardsUpdate201613Member   us-gaap:AccountingStandardsUpdate201613Member            
Cumulative-effect of new accounting standard for Topic 326 Credit Losses (141,496,000)   $ (151,973,000) $ (153,612,000) $ (162,605,000) $ (182,245,000) $ (151,973,000) $ (162,605,000) $ (153,612,000)   $ (132,719,000) $ (172,640,000) $ (72,116,000)    
5 Largest Customers | Revenue from Contract with Customer | Customer Concentration Risk                              
Schedule Of Significant Accounting Policies [Line Items]                              
Concentration risk, percentage     31.00%   25.00%   23.00% 20.00%              
Cumulative Effect, Period of Adoption, Adjustment                              
Schedule Of Significant Accounting Policies [Line Items]                              
Cumulative-effect of new accounting standard for Topic 326 Credit Losses       100,000         100,000            
Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Par Value     $ 56,079,000 56,079,000     $ 56,079,000   56,079,000            
Senior Convertible Notes due 2034 | Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Par Value     1,079,000 1,079,000     1,079,000   1,079,000           $ 201,300,000
Interest rate on notes                           2.75% 2.75%
Debt extinguished   $ 50,200,000                          
Principal amount   1,100,000 1,079,000 1,079,000     1,079,000   1,079,000         $ 51,300,000  
Exchange Convertible Senior Notes due 2034 | Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Par Value                           $ 150,000,000.0  
Interest rate on notes                           2.75%  
Loss on extinguishment of debt       3,000,000.0   $ 9,000,000.0                  
Principal amount                           $ 150,000,000.0  
Senior Convertible Notes Due 2024 | Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Par Value   $ 55,000,000.0 55,000,000 55,000,000     55,000,000   55,000,000            
Interest rate on notes   5.25%                          
Debt extinguished   $ 51,800,000                          
Principal amount     55,000,000 55,000,000     55,000,000   55,000,000            
Common Stock                              
Schedule Of Significant Accounting Policies [Line Items]                              
Conversion of debt into common stock (shares)           19,460                  
Cumulative-effect of new accounting standard for Topic 326 Credit Losses (71,000)   (74,000) (70,000) $ (70,000) $ (69,000) (74,000) $ (70,000) (70,000)   (71,000) (69,000) (49,000)    
Common Stock | Senior Convertible Notes due 2034 | Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Conversion of debt into common stock (shares)           19,500                  
Common Stock | Exchange Convertible Senior Notes due 2034 | Convertible Debt                              
Schedule Of Significant Accounting Policies [Line Items]                              
Conversion of debt into common stock (shares)           19,500                  
Accumulated Deficit                              
Schedule Of Significant Accounting Policies [Line Items]                              
Cumulative-effect of new accounting standard for Topic 326 Credit Losses 639,721,000   658,735,000 623,641,000 610,956,000 $ 584,316,000 $ 658,735,000 610,956,000 623,641,000   $ 652,736,000 $ 598,069,000 $ 558,851,000    
Accumulated Deficit | Cumulative Effect, Period of Adoption, Adjustment                              
Schedule Of Significant Accounting Policies [Line Items]                              
Cumulative-effect of new accounting standard for Topic 326 Credit Losses       $ 100,000         $ 100,000            
Intellectual Property Infringement Claims                              
Schedule Of Significant Accounting Policies [Line Items]                              
Proceeds from legal settlements 3,500,000                            
Minimum | Commission Costs                              
Schedule Of Significant Accounting Policies [Line Items]                              
Performance obligation period             1 year                
Maximum | Commission Costs                              
Schedule Of Significant Accounting Policies [Line Items]                              
Performance obligation period             3 years                
Product revenue                              
Schedule Of Significant Accounting Policies [Line Items]                              
Total revenue     29,210,000   20,666,000   $ 65,596,000 68,728,000              
Product revenue | Minimum                              
Schedule Of Significant Accounting Policies [Line Items]                              
Terms of payment period             30 days                
Product revenue | Maximum                              
Schedule Of Significant Accounting Policies [Line Items]                              
Terms of payment period             60 days                
Service revenue                              
Schedule Of Significant Accounting Policies [Line Items]                              
Total revenue     6,131,000   5,630,000   $ 16,457,000 15,875,000              
Service revenue | Minimum                              
Schedule Of Significant Accounting Policies [Line Items]                              
Performance obligation period             1 year                
Service revenue | Maximum                              
Schedule Of Significant Accounting Policies [Line Items]                              
Performance obligation period             3 years                
Other revenue                              
Schedule Of Significant Accounting Policies [Line Items]                              
Total revenue $ 3,100,000   $ 0   $ 0   $ 3,163,000 $ 0              
Development revenue | One Customer | Revenue from Contract with Customer | Customer Concentration Risk                              
Schedule Of Significant Accounting Policies [Line Items]                              
Concentration risk, percentage     10.00%       10.00%