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Income Taxes - Reconciliation of Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	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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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.

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