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Debt - Term Loan (Details) - USD ($) $ in Thousands |  |  |  |  | 9 Months Ended |
--- | --- | --- | --- | --- | --- | ---
May 12, 2020 | Mar. 31, 2020 | Mar. 06, 2020 | Aug. 23, 2017 | Sep. 30, 2021 | Sep. 30, 2020 | Jan. 09, 2017
Debt Instrument [Line Items] |  |  |  |  |  |  |
Payments repurchase of preferred stock |  |  |  |  | $ 0 | $ 2,354 |
Series E preferred stock |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Issuance of shares (shares) |  |  | 25,000 |  |  |  |
Stock repurchased (in shares) | 2,330 |  |  |  |  |  |
Payments repurchase of preferred stock | $ 2,400 |  |  |  |  |  |
South Ocean Funding LLC | Series E preferred stock |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Issuance of shares (shares) |  | 2,330 |  |  |  |  |
Secured Debt | Term Loan |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt aggregate face amount |  |  |  | $ 48,000 |  |  |
Repayment of outstanding principal | 47,500 |  |  |  |  |  |
Repayment of accrued interest | 500 |  |  |  |  |  |
Prepayment fee | $ 1,400 |  |  |  |  |  |
Interest rate base minimum (percent) |  |  |  | 1.00% |  |  |
Effective interest rate |  |  |  |  |  | 15.19% |
Secured Debt | Term Loan | LIBOR |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Applicable margin on interest rate (percent) |  |  |  | 7.625% |  |  |
Convertible Debt | 2022 Notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt aggregate face amount |  |  |  |  |  |  | $ 119,800
Effective interest rate |  |  |  |  |  | 12.89% |
Convertible Debt | 2025 Notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Effective interest rate |  |  |  |  | 4.15% |  |

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