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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%