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Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Allowance for doubtful accounts $ 402 $ 1,384
Accumulated depreciation, Property, plant and equipment 25,902 21,715
Accumulated depreciation, Rental assets 17,443 15,754
Accumulated amortization, Intangible assets $ 44,085 $ 63,020
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 2,000,000 2,000,000
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 150,000,000 150,000,000
Common stock, shares issued (in shares) 104,950,049 99,399,029
Common stock, shares outstanding (in shares) 104,950,049 99,399,029
Series E preferred stock    
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 39,500 39,500
Preferred stock issued (in shares) 25,000 35,000
Preferred stock, shares outstanding (in shares) 25,000 35,000
Preferred stock, liquidation preference per share (in dollars per share) $ 1,000 $ 1,000