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Debt - Convertible Notes (Details) |  |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Jul. 22, 2020 USD ($) | May 12, 2020 USD ($) | Sep. 30, 2021 USD ($) $ / shares | Sep. 30, 2020 USD ($) shares | Jun. 30, 2020 USD ($) | Mar. 31, 2020 USD ($) shares | Sep. 30, 2021 USD ($) trading_day $ / shares shares | Sep. 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 |  |  | $ 32,000,000 |  | 0 | 32,062,000 |  |
Loss on debt conversion and extinguishment |  |  | $ 0 | $ 1,180,000 |  |  | 432,000 | 76,354,000 |  |
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 |  |  |
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 |  |  |
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 |  |  |  |  |
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 |  |  | 4.15% |  |  |  | 4.15% |  |  |
Interest expense |  |  | $ 1,687,000 | 1,667,000 |  |  | $ 5,016,000 | $ 2,687,000 |  |
Convertible Debt | 2022 Notes |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |
Principal amount |  | 45,000,000 |  |  |  |  |  |  | $ 2,000 |
Estimated fair value of convertible debt |  | 112,400,000 |  |  |  |  |  |  |  |
Debt conversion amount | $ 2,000 | $ 45,000,000 |  | $ 2,000 | $ 45,000,000 | $ 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 | $ 0 |  |  | $ 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%

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