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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