Income taxes - Narrative (Details) - USD ($)	3 Months Ended	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, Domestic	$ 680,200,000		$ 680,200,000
Business Combination Recognized Identifiable Assets Acquired and Liabilities Assumed, Deferred Tax Assets	8,100,000		8,100,000
Income tax (benefit) expense	100,000	$ (3,900,000)	4,826,000	$ (4,428,000)	$ 1,359,000
Loss before income taxes	$ 44,500,000	$ 91,900,000	$ (61,957,000)	$ (19,070,000)	$ (107,675,000)
Effective tax rate	0.30%	(4.30%)	(7.80%)	23.20%	(1.30%)
Current Foreign Tax Expense (Benefit)	$ 1,500,000	$ 300,000	$ 4,956,000	$ (4,391,000)	$ 4,394,000
Income Tax Effects Allocated Directly to Equity, Other	300,000	1,600,000	2,100,000	700,000
Income Tax Expense (Benefit), Continuing Operations, Adjustment of Deferred Tax (Asset) Liability	(300,000)		2,600,000
Unrecognized Tax Benefits, Period Increase (Decrease)			500,000
Restructuring adjustments	3,500,000		0	0	(18,694,000)
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount	3,200,000	1,500,000	9,600,000	200,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions			2,541,000	250,000	483,000
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions			1,681,000	0	445,000
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions			(3,929,000)	(5,628,000)	(26,956,000)
Increase in Unrecognized Tax Benefits is Reasonably Possible	13,000,000.0		13,000,000.0
Tax Adjustments, Settlements, and Unusual Provisions		300,000	(200,000)	1,200,000
Other Tax Expense (Benefit)		400,000		200,000
Unrecognized Tax Benefits	27,471,000	27,178,000	27,471,000	27,178,000	32,556,000	$ 58,584,000
Accruals and reserves	11,687,000	19,493,000	11,687,000	19,493,000
Deferred Tax Assets, Gross	296,609,000	290,795,000	296,609,000	290,795,000
Valuation allowance	(287,276,000)	(277,693,000)	(287,276,000)	(277,693,000)
Deferred Tax Assets, Net of Valuation Allowance	9,333,000	13,102,000	9,333,000	13,102,000
Deferred Tax Liabilities, Property, Plant and Equipment	(1,112,000)	0	(1,112,000)	0
Deferred Tax Liabilities, Other	(7,255,000)	(12,238,000)	(7,255,000)	(12,238,000)
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	15,300,000	12,500,000	15,300,000	12,500,000	17,300,000
Income (Loss) from Continuing Operations before Income Taxes, Domestic			(70,572,000)	(28,233,000)	(110,318,000)
Income (Loss) from Continuing Operations before Income Taxes, Foreign			8,615,000	9,163,000	$ 2,643,000
Net operating loss carryforwards	177,987,000	163,832,000	177,987,000	163,832,000
Tax credit carryforwards	79,694,000	75,624,000	79,694,000	75,624,000
Stock-based compensation	5,192,000	5,710,000	5,192,000	5,710,000
Allowance for returns	2,492,000	4,150,000	2,492,000	4,150,000
Intangible assets	5,453,000	5,384,000	5,453,000	5,384,000
Deferred Tax Assets, Operating lease liabilities	14,104,000	16,602,000	14,104,000	16,602,000
Deferred Tax Liabilities, Gross	(8,367,000)	(12,238,000)	(8,367,000)	(12,238,000)
Deferred Income Tax Assets, Net	966,000	$ 864,000	966,000	$ 864,000
deferred tax assets, valuation allowance, change due to extinguishment of debt			7,200,000
Deferred Tax Assets, Operating Loss Carryforwards, Domestic	680,200,000		680,200,000
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration	1,700,000		1,700,000
Significant Change in Unrecognized Tax Benefits is Reasonably Possible, Amount of Unrecorded Benefit	13,000,000.0		13,000,000.0
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount	45,800,000		45,800,000
Tax Credit Carryforward, Amount	45,800,000		45,800,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount	42,900,000		42,900,000
Tax Credit Carryforward, Amount	42,900,000		42,900,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local	239,700,000		239,700,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local	239,700,000		239,700,000
States Other than CA [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local	234,700,000		234,700,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local	$ 234,700,000		$ 234,700,000

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Amount, before allocation of a valuation allowances, of deferred tax assets attributable to deductible tax credit carryforwards including, but not limited to, research, foreign, general business, alternative minimum tax, and other deductible tax credit carryforwards.

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The portion of earnings or loss from continuing operations before income taxes that is attributable to foreign operations, which is defined as Income or Loss generated from operations located outside the entity's country of domicile.

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The tax effect of items occurring during the period that have been charged or credited directly to components of shareholders' equity and are not otherwise defined.

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Amount of income tax expense (benefit) from continuing operations attributable to an adjustment of a deferred tax liability or asset for enacted changes in tax laws or rates or a change in the tax status of the entity.

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