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Debt - Convertible Notes (Details)			1 Months Ended	2 Months Ended	3 Months Ended		12 Months Ended
	Jul. 22, 2020 USD ($)	May 12, 2020 USD ($)	Feb. 29, 2020 USD ($) $ / shares shares	Mar. 01, 2021 USD ($) shares	Dec. 31, 2020 USD ($) $ / shares	Mar. 31, 2020 USD ($) shares	Dec. 31, 2020 USD ($) trading_day $ / shares shares	Dec. 31, 2019 USD ($)	Jun. 30, 2020 USD ($)	Jan. 09, 2017 USD ($)	Jun. 10, 2015 USD ($)
Debt Instrument [Line Items]
Proceeds from completed registered offering							$ 100,000,000	$ 0
Cash paid in exchange transaction		$ 32,000,000.0					32,062,000	0
Loss on debt conversion and extinguishment							76,354,000	0
2025 Notes
Debt Instrument [Line Items]
Loss on debt conversion and extinguishment							1,200,000
Debt conversion amount							$ 13,500,000
Conversion (shares) | shares							1,177,156
Shares in satisfaction of make-whole payment (shares) | shares							108,572
Value of converted amount					$ 13,500,000		$ 13,500,000
2025 Notes | Subsequent event
Debt Instrument [Line Items]
Debt conversion amount				$ 5,000,000.0
Conversion (shares) | shares				428,669
Shares in satisfaction of make-whole payment (shares) | shares				32,221
2022 Notes
Debt Instrument [Line Items]
Loss on debt conversion and extinguishment		67,200,000
Convertible debt | 2025 Notes
Debt Instrument [Line Items]
Proceeds from completed registered offering		100,000,000.0
Principal amount					$ 166,898,000		$ 166,898,000
Debt issued in exchange transaction		80,400,000
Stated interest rate of debt issued					3.25%		3.25%
Principal amount per note					$ 1,000		$ 1,000
Conversion ratio							79.2896
Conversion price ($ per share) | $ / shares					$ 12.61		$ 12.61
Threshold percentage of stock price trigger							130.00%
Threshold of trading days | trading_day							20
Threshold of consecutive trading days | trading_day							30
Aggregate percentage of holders to declare notes due and payable in default event							25.00%
Percentage of principal and accrued interest that may be called in default event							100.00%
Percentage of principal and accrued interest that may be called in event of bankruptcy, insolvency or reorganization							100.00%
Stock price trigger (in dollars per share) | $ / shares							$ 10.51
Interest make-whole payment discount rate					1.00%		1.00%
Notes held by related parties					$ 80,400,000		$ 80,400,000
Effective interest rate					4.10%		4.10%
Convertible debt | 2022 Notes
Debt Instrument [Line Items]
Principal amount		45,000,000.0						$ 105,125,000	$ 2,000
Estimated fair value of convertible debt		$ 112,400,000
Debt conversion amount	$ 2,000					$ 59,900,000
Conversion (shares) | shares						13,688,876
Effective interest rate					12.89%		12.89%
Debt aggregate face amount										$ 119,800,000
Convertible debt | Novatel Wireless Notes
Debt Instrument [Line Items]
Debt conversion amount			$ 250,000
Conversion (shares) | shares			50,000
Stated interest rate of debt issued											5.50%
Debt issuance costs											$ 3,900,000
Conversion price ($ per share) | $ / shares			$ 5.00
Debt aggregate face amount											$ 120,000,000.0
Convertible debt | Privately negotiated exchange agreements
Debt Instrument [Line Items]
Loss on debt conversion and extinguishment						$ 7,900,000
Conversion (shares) | shares						942,706
Value of converted amount						$ 7,900,000

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