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Condensed Consolidated Statements of Stockholders' Deficit (Unaudited) - USD ($) $ in Thousands | Common Stock [Member] At Market Issuance Sales Agreement [Member] | Common Stock [Member] Direct Offering [Member] | Common Stock [Member] Preferred Class A [Member] | Common Stock [Member] Series A Preferred Stock [Member] | Common Stock [Member] Lenders [Member] | Common Stock [Member] | Preferred Stock [Member] At Market Issuance Sales Agreement [Member] Series A Preferred Stock [Member] | Preferred Stock [Member] At Market Issuance Sales Agreement [Member] | Preferred Stock [Member] Direct Offering [Member] Series A Preferred Stock [Member] | Preferred Stock [Member] Direct Offering [Member] | Preferred Stock [Member] Preferred Class A [Member] | Preferred Stock [Member] Series A Preferred Stock [Member] Lenders [Member] | Preferred Stock [Member] Series A Preferred Stock [Member] | Preferred Stock [Member] Lenders [Member] | Preferred Stock [Member] | Additional Paid-in Capital [Member] At Market Issuance Sales Agreement [Member] | Additional Paid-in Capital [Member] Direct Offering [Member] | Additional Paid-in Capital [Member] Preferred Class A [Member] | Additional Paid-in Capital [Member] Series A Preferred Stock [Member] | Additional Paid-in Capital [Member] Lenders [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] At Market Issuance Sales Agreement [Member] | Retained Earnings [Member] Direct Offering [Member] | Retained Earnings [Member] Preferred Class A [Member] | Retained Earnings [Member] Series A Preferred Stock [Member] | Retained Earnings [Member] Lenders [Member] | Retained Earnings [Member] | At Market Issuance Sales Agreement [Member] | Direct Offering [Member] | Preferred Class A [Member] | Series A Preferred Stock [Member] | Lenders [Member] | Total
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Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  | 28,480,567 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  | $ 285 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | $ 419,194 |  |  |  |  |  | $ (501,597) |  |  |  |  |  | $ (82,118)
Stock-based compensation expense (in shares) |  |  |  |  |  | 116,134 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 1 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 1,250 |  |  |  |  |  | 0 |  |  |  |  |  | 1,251
Reclassification of warrant liability |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  | (865) |  |  |  |  |  | 0 |  |  |  |  |  | (865)
Issuance of shares (in shares) | 408,992 |  | 0 |  |  |  |  | 0 |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares | $ 4 |  | $ 0 |  |  |  |  | $ 0 |  |  | $ 1 |  |  |  |  | $ 3,919 |  | $ 39,735 |  |  |  | $ 0 |  | $ 0 |  |  |  | $ 3,923 |  | $ 39,736 |  |  |
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (20,514) |  |  |  |  |  | (20,514)
Conversion of preferred shares to common shares (in shares) |  |  |  |  |  | 5,766,337 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred shares to common shares |  |  |  |  |  | $ 57 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 38,843 |  |  |  |  |  | 0 |  |  |  |  |  | 38,900
Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  | 34,772,030 |  |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Mar. 31, 2020 |  |  |  |  |  | $ 347 |  |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  | 502,076 |  |  |  |  |  | (522,111) |  |  |  |  |  | (19,687)
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  | 28,480,567 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  | $ 285 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 419,194 |  |  |  |  |  | (501,597) |  |  |  |  |  | (82,118)
Net loss and comprehensive loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (29,800)
Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  | 35,401,834 |  |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Sep. 30, 2020 |  |  |  |  |  | $ 353 |  |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  | 508,527 |  |  |  |  |  | (531,397) |  |  |  |  |  | (22,516)
Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  | 34,772,030 |  |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Mar. 31, 2020 |  |  |  |  |  | $ 347 |  |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  | 502,076 |  |  |  |  |  | (522,111) |  |  |  |  |  | (19,687)
Stock-based compensation expense (in shares) |  |  |  |  |  | 25,032 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 300 |  |  |  |  |  | 0 |  |  |  |  |  | 300
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (4,793) |  |  |  |  |  | (4,793)
Balance (in shares) at Jun. 30, 2020 |  |  |  |  |  | 34,797,062 |  |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Jun. 30, 2020 |  |  |  |  |  | $ 347 |  |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  | 502,376 |  |  |  |  |  | (526,904) |  |  |  |  |  | (24,180)
Stock-based compensation expense (in shares) |  |  |  |  |  | 2,448 |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 273 |  |  |  |  |  | 0 |  |  |  |  |  | 273
Issuance of shares (in shares) | 602,324 |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares | $ 6 |  |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  | 5,878 |  |  |  |  |  | 0 |  |  |  |  |  | 5,884 |  |  |  |  |
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (4,493) |  |  |  |  |  | (4,493)
Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  | 35,401,834 |  |  |  |  |  |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Sep. 30, 2020 |  |  |  |  |  | $ 353 |  |  |  |  |  |  |  |  | $ 1 |  |  |  |  |  | 508,527 |  |  |  |  |  | (531,397) |  |  |  |  |  | (22,516)
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  | 36,902,361 |  |  |  |  |  |  | 0 |  | 7,531 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  | $ 368 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 513,744 |  |  |  |  |  | (539,414) |  |  |  |  |  | (25,301)
Stock-based compensation expense (in shares) |  |  |  |  |  | 72,229 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 1 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 147 |  |  |  |  |  | 0 |  |  |  |  |  | 148
Reclassification of warrant liability |  |  |  |  |  | 0 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  | 3,179 |  |  |  |  |  | 0 |  |  |  |  |  | 179
Issuance of shares (in shares) | 1,368,362 |  |  |  |  |  | 0 | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares | $ 13 |  |  |  |  |  | $ 0 | $ 0 |  |  |  |  |  |  |  | 14,853 |  |  |  |  |  | 0 |  |  |  |  |  | 14,866 |  |  |  |  |
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (5,944) |  |  |  |  |  | (5,944)
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  | 38,342,952 |  |  |  |  |  |  | 0 |  | 7,531 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  | $ 382 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 531,923 |  |  |  |  |  | (545,358) |  |  |  |  |  | (13,052)
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  | 36,902,361 |  |  |  |  |  |  | 0 |  | 7,531 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  | $ 368 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 513,744 |  |  |  |  |  | (539,414) |  |  |  |  |  | (25,301)
Net loss and comprehensive loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (25,345)
Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  | 42,508,398 |  |  |  |  |  |  | 2,300 |  | 3,156 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Sep. 30, 2021 |  |  |  |  |  | $ 424 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 612,902 |  |  |  |  |  | (566,208) |  |  |  |  |  | 47,119
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  | 38,342,952 |  |  |  |  |  |  | 0 |  | 7,531 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  | $ 382 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 531,923 |  |  |  |  |  | (545,358) |  |  |  |  |  | (13,052)
Stock-based compensation expense (in shares) |  |  |  |  |  | 6,812 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 3,293 |  |  |  |  |  | 0 |  |  |  |  |  | 3,293
Issuance of shares (in shares) | 115,956 | 1,219,512 |  |  |  |  | 0 | 0 | 0 | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares | $ 1 | $ 12 |  |  |  |  | $ 0 | $ 0 | $ 0 | $ 0 |  |  |  |  |  | 1,412 | $ 14,062 |  |  |  |  | 0 | $ 0 |  |  |  |  | 1,413 | $ 14,074 |  |  |  |
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (11,562) |  |  |  |  |  | (11,562)
Issuance of shares pursuant to exercise of warrants (in shares) |  |  |  |  |  | 362,500 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares pursuant to exercise of warrants |  |  |  |  |  | $ 4 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | 0 |  |  |  |  |  | 4
Conversion of preferred shares to common shares (in shares) |  |  |  |  |  | 506,312 |  |  |  |  |  |  | 0 |  | (1,250) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred shares to common shares |  |  |  |  |  | $ 5 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | (5) |  |  |  |  |  | 0 |  |  |  |  |  | 0
Issuance of shares to lenders (in shares) |  |  |  |  | 64,356 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares to lenders |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | $ 764 |  |  |  |  |  | $ 0 |  |  |  |  |  | $ 765 |
Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  | 40,618,400 |  |  |  |  |  |  | 0 |  | 6,281 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Jun. 30, 2021 |  |  |  |  |  | $ 405 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | 551,449 |  |  |  |  |  | (556,920) |  |  |  |  |  | (5,065)
Stock-based compensation expense (in shares) |  |  |  |  |  | 1,335 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 697 |  |  |  |  |  | 0 |  |  |  |  |  | 697
Issuance of shares (in shares) | 165,000 |  |  |  |  |  | 0 | 0 |  |  |  |  | 2,300 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares | $ 2 |  |  | $ 0 |  |  | $ 0 | $ 0 |  |  |  |  | $ 0 |  |  | $ 2,101 |  |  | $ 54,209 |  |  | $ 0 |  |  | $ 0 |  |  | $ 2,103 |  |  | $ 54,209 |  |
Net loss and comprehensive loss |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (7,839) |  |  |  |  |  | (7,839)
Conversion of preferred shares to common shares (in shares) |  |  |  |  |  | 1,265,780 |  |  |  |  |  |  | 0 |  | (3,125) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion of preferred shares to common shares |  |  |  |  |  | $ 13 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | (13) |  |  |  |  |  | 0 |  |  |  |  |  | 0
Issuance of shares to lenders (in shares) |  |  |  |  |  | 299,210 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of shares to lenders |  |  |  |  |  | $ 3 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 3,848 |  |  |  |  |  |  |  |  |  |  |  | 3,851
Issuance of restricted stock units (in shares) |  |  |  |  |  | 158,673 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of restricted stock units |  |  |  |  |  | $ 1 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | 0 |  |  |  |  |  | 1
Net settlement for taxes related to equity awards |  |  |  |  |  | 0 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  | (1,184) |  |  |  |  |  |  |  |  |  |  |  | (1,184)
Issuance of warrants |  |  |  |  |  | 0 |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |  | 1,795 |  |  |  |  |  | 0 |  |  |  |  |  | 1,795
Dividends declared on 8.875% series A cumulative perpetual preferred shares ($630.00 per share) |  |  |  |  |  | $ 0 |  |  |  |  |  |  | $ 0 |  | $ 0 |  |  |  |  |  | 0 |  |  |  |  |  | (1,449) |  |  |  |  |  | (1,449)
Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  | 42,508,398 |  |  |  |  |  |  | 2,300 |  | 3,156 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance at Sep. 30, 2021 |  |  |  |  |  | $ 424 |  |  |  |  |  |  | $ 0 |  | $ 1 |  |  |  |  |  | $ 612,902 |  |  |  |  |  | $ (566,208) |  |  |  |  |  | $ 47,119

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