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Income Taxes - Reconciliation of Income Taxes (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract] |  |  |
Income (benefit) taxes at statutory rates | $ (34,207) | $ (25,370) | $ (19,908)
State income tax, net of federal benefit | 0 | 0 | (4)
Foreign income taxes | 0 | 0 | 2,170
Change in valuation allowance | 21,428 | 25,457 | 20,898
Nondeductible loss on extinguishment of debt | 14,450 | 0 | 0
Research and development tax credits | (2,650) | (3,838) | (3,170)
Change in fair value of warrants | 0 | 0 | (76)
Stock-based compensation | (1,953) | 1,114 | 1,094
Uncertain tax positions | 1,068 | 1,537 | 1,268
Deconsolidation of subsidiary | 853 | 0 | 0
Expired NOLs and credits | 468 | 616 | 2,176
Limited NOLs and credits | (368) | (616) | (2,176)
Change in tax rates | 0 | 12 | 0
Foreign tax rate differential | (9) | 0 | 0
Other | 920 | 831 | (102)
Income tax expense (benefit) | $ 0 | $ (257) | $ 2,170

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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to increase (decrease) in the valuation allowance for deferred tax assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 + Details
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