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Debt - Convertible Notes (Details)
3 Months Ended 6 Months Ended
Jul. 22, 2020
USD ($)
May 12, 2020
USD ($)
Jun. 30, 2021
USD ($)
$ / shares
Mar. 31, 2021
USD ($)
shares
Sep. 30, 2020
USD ($)
shares
Jun. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
shares
Jun. 30, 2021
USD ($)
trading_day
$ / shares
Jun. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Jan. 09, 2017
USD ($)
Debt Instrument [Line Items]                      
Proceeds from completed registered offering               $ 0 $ 100,000,000    
Cash paid in exchange transaction   $ 32,000,000.0       $ 32,000,000   0 32,062,000    
Loss on debt conversion and extinguishment     $ 0     67,241,000   432,000 75,174,000    
Conversion (shares) | shares         1,177,156            
2025 Notes                      
Debt Instrument [Line Items]                      
Loss on debt conversion and extinguishment       $ 400,000              
Debt conversion amount       $ 5,000,000.0              
Conversion (shares) | shares       428,669              
Shares in satisfaction of make-whole payment (shares) | shares       32,221              
Value of converted amount         $ 13,500,000     5,000,000.0      
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   180,400,000 $ 161,898,000         $ 161,898,000   $ 166,898,000  
Debt issued in exchange transaction   80,400,000       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     4.16%         4.16%      
Interest expense     $ 1,687,000     1,020,000   $ 3,329,000 $ 1,020,000    
Convertible Debt | 2022 Notes                      
Debt Instrument [Line Items]                      
Principal amount   45,000,000.0     2,000            
Estimated fair value of convertible debt   112,400,000                  
Debt conversion amount $ 2,000 $ 45,000,000.0     $ 2,000 $ 45,000,000.0 $ 59,900,000        
Conversion (shares) | shares             13,688,876        
Effective interest rate           12.89%     12.89%    
Debt aggregate face amount                     $ 119,800,000
Interest expense     $ 0     $ 1,025,000   $ 0 $ 2,831,000    
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        
Convertible Debt | Novatel Wireless Notes                      
Debt Instrument [Line Items]                      
Stated interest rate of debt issued                     5.50%