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Shareholders' Deficit- Equity Table (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2021
Jun. 30, 2020
Class of Stock [Line Items]            
Balance $ (221,955) $ (120,752) $ (131,864) $ (109,021) $ (120,752) $ (109,021)
Exercise of stock options and warrants   6,333        
Exercise of stock options 1,135   66 2,712    
At the market offering costs   (241)        
Stock-based compensation expense 3,117 3,271 3,822 3,476    
Net loss (28,593) (35,090) (33,294) (29,031) (63,683) (62,325)
Balance (246,296) (221,955) (161,270) (131,864) (246,296) (161,270)
Cumulative effect adjustment            
Class of Stock [Line Items]            
Balance       (75,476)   (75,476)
Common Stock            
Class of Stock [Line Items]            
Balance 622 616 545 542 616 542
Exercise of stock options and warrants   6        
Exercise of stock options 2     3    
Balance 624 622 545 545 624 545
Additional Paid-in Capital            
Class of Stock [Line Items]            
Balance 689,882 751,304 631,233 625,048 751,304 625,048
Exercise of stock options and warrants   6,327        
Exercise of stock options 1,133   66 2,709    
At the market offering costs   (241)        
Stock-based compensation expense 3,117 3,271 3,822 3,476    
Balance 694,132 689,882 635,121 631,233 694,132 635,121
Additional Paid-in Capital | Cumulative effect adjustment            
Class of Stock [Line Items]            
Balance       (70,779)   (70,779)
Accumulated Deficit            
Class of Stock [Line Items]            
Balance (912,459) (872,672) (763,642) (734,611) (872,672) (734,611)
Net loss (28,593) (35,090) (33,294) (29,031)    
Balance $ (941,052) $ (912,459) $ (796,936) (763,642) $ (941,052) (796,936)
Accumulated Deficit | Cumulative effect adjustment            
Class of Stock [Line Items]            
Balance       $ (4,697)   $ (4,697)