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Debt - Narrative (Details)
 12 Months Ended
Aug. 05, 2022
USD ($)
May 12, 2020
USD ($)
Dec. 31, 2022
USD ($)
trading_day
$ / shares
shares
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]          
Proceeds from completed registered offering     $ 0 $ 0 $ 100,000,000
Cash paid in exchange transaction     0 0 32,062,000
Loss on debt conversion and extinguishment     450,000 432,000 76,354,000
Remaining capacity     6,100,000    
Interest expense attributable to related parties         800,000
Amortization of debt issuance costs     $ 200,000    
Line of Credit Facility, Interest Rate During Period     17.71%    
Affiliated Entity          
Debt Instrument [Line Items]          
Contractual interest expense       2,600,000 1,700,000
Revolving Credit Facility          
Debt Instrument [Line Items]          
Principal amount     $ 7,851,000    
Contractual interest expense     211,000    
Maximum borrowing capacity $ 50,000,000   15,700,000    
Minimum draw $ 4,500,000        
Applicable margin on interest rate (percent) 3.50%        
Debt covenant threshold $ 10,000,000        
Debt issuance costs $ (1,100,000)        
Outstanding borrowings under the credit facility     7,900,000    
Remaining capacity     7,800,000    
Amortization of debt issuance costs     194,000    
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage 0.40%        
Revolving Credit Facility | Less Than 15 Million          
Debt Instrument [Line Items]          
Debt covenant threshold $ 15,000,000        
Revolving Credit Facility | Between 15 Million and 25 Million | Minimum          
Debt Instrument [Line Items]          
Debt covenant threshold 15,000,000        
Revolving Credit Facility | Between 15 Million and 25 Million | Maximum          
Debt Instrument [Line Items]          
Debt covenant threshold 25,000,000        
Revolving Credit Facility | Greater Than 25 Million          
Debt Instrument [Line Items]          
Debt covenant threshold $ 25,000,000        
Revolving Credit Facility | SOFR          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 1.00%        
Revolving Credit Facility | SOFR | Less Than 15 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 3.50%        
Revolving Credit Facility | SOFR | Between 15 Million and 25 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 4.00%        
Revolving Credit Facility | SOFR | Greater Than 25 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 5.50%        
Revolving Credit Facility | Federal Base Rate          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 0.50%        
Revolving Credit Facility | Base Rate | Less Than 15 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 2.50%        
Revolving Credit Facility | Base Rate | Between 15 Million and 25 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 3.00%        
Revolving Credit Facility | Base Rate | Greater Than 25 Million          
Debt Instrument [Line Items]          
Applicable margin on interest rate (percent) 4.50%        
2022 Notes          
Debt Instrument [Line Items]          
Contractual interest expense       768,000  
Amortization of debt issuance costs       111,000  
Novatel Wireless Notes          
Debt Instrument [Line Items]          
Contractual interest expense         1,667,000
Amortization of debt issuance costs         103,000
Convertible debt          
Debt Instrument [Line Items]          
Cash paid in exchange transaction   $ 32,000,000      
Convertible debt | 2025 Notes          
Debt Instrument [Line Items]          
Proceeds from completed registered offering   100,000,000      
Principal amount     161,898,000 $ 161,898,000  
Debt issued in exchange transaction   80,400,000      
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    
Stated interest rate of debt issued     3.25%    
Conversion ratio     0.0792896    
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     $ 900,000    
Effective interest rate     4.17% 4.15%  
Contractual interest expense     $ 5,262,000 $ 5,271,000 3,434,000
Amortization of debt issuance costs     $ 659,000 $ 660,000 $ 439,000
Convertible debt | 2022 Notes          
Debt Instrument [Line Items]          
Principal amount   45,000,000      
Estimated fair value of convertible debt   112,400,000      
Loss on debt conversion and extinguishment   $ 67,200,000      
Convertible debt | 2022 Notes          
Debt Instrument [Line Items]          
Effective interest rate         12.89%
Convertible debt | Novatel Wireless Notes          
Debt Instrument [Line Items]          
Effective interest rate         15.19%