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Debt - Convertible Notes (Details)
 1 Months Ended 3 Months Ended 12 Months Ended
Jul. 22, 2020
USD ($)
May 12, 2020
USD ($)
Feb. 29, 2020
USD ($)
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Jun. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
shares
Dec. 31, 2021
USD ($)
trading_day
$ / shares
shares
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Jan. 09, 2017
USD ($)
Jun. 10, 2015
USD ($)
Debt Instrument [Line Items]                      
Proceeds from completed registered offering             $ 0 $ 100,000,000 $ 0    
Cash paid in exchange transaction   $ 32,000,000     $ 32,000,000   0 32,062,000 0    
Loss on debt conversion and extinguishment             432,000 76,354,000 $ 0    
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     100,000,000            
Principal amount   180,400,000         $ 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%        
Principal amount per note             $ 1,000        
Conversion ratio             79.2896        
Conversion price ($ per share) | $ / shares             $ 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%        
Notes held by related parties             $ 80,400,000        
Accrued interest due to related parties             $ 400,000        
Effective interest rate             4.15% 4.10%      
Interest expense attributable to related parties             $ 2,600,000 $ 1,700,000      
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          
Notes outstanding               $ 0      
Effective interest rate               12.89% 13.88%    
Interest expense attributable to related parties               $ 800,000 $ 2,500,000    
Debt aggregate face amount                   $ 119,800,000  
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]                      
Debt conversion amount     $ 250,000                
Conversion (shares) | shares     50,000                
Stated interest rate of debt issued                     5.50%
Conversion price ($ per share) | $ / shares     $ 5.00                
Notes outstanding               $ 0      
Debt aggregate face amount                     $ 120,000,000
Debt issuance costs                     $ 3,900,000