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Debt - Term Loan (Details) - USD ($)
$ in Thousands
9 Months Ended
May 12, 2020
Mar. 31, 2020
Mar. 06, 2020
Aug. 09, 2019
Aug. 23, 2017
Sep. 30, 2020
Sep. 30, 2019
Jan. 09, 2017
Debt Instrument [Line Items]                
Payments repurchase of preferred stock           $ 2,354 $ 0  
Series E Preferred Stock                
Debt Instrument [Line Items]                
Issuance of shares (shares)     25,000 10,000        
Stock repurchased (in shares) 2,330              
Payments repurchase of preferred stock $ 2,400              
South Ocean Funding LLC | Series E Preferred Stock                
Debt Instrument [Line Items]                
Issuance of shares (shares)   2,330            
Secured Debt | Term Loan                
Debt Instrument [Line Items]                
Debt aggregate face amount         $ 48,000      
Repayment of outstanding principal 47,500              
Repayment of accrued interest 500              
Prepayment fee 1,400              
Interest rate base minimum (percent)         1.00%      
Effective interest rate           15.19%    
Secured Debt | Term Loan | LIBOR                
Debt Instrument [Line Items]                
Applicable margin on interest rate (percent)         7.625%      
Convertible Debt | 2022 Notes                
Debt Instrument [Line Items]                
Debt aggregate face amount               $ 119,800
Effective interest rate           12.89%    
Convertible Debt | 2025 Notes                
Debt Instrument [Line Items]                
Debt aggregate face amount $ 180,400              
Effective interest rate           4.03%