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Convertible Debt and Notes Payable - Notes Payable (Details) - Senior Notes - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Sep. 30, 2019
Jun. 30, 2019
May 07, 2019
Jun. 11, 2018
Dec. 14, 2017
Dec. 08, 2017
2024 Notes                  
Debt and Capital Lease Obligations [Line Items]                  
Debt Instrument, Face Amount           $ 53,000,000.0      
Interest rate           7.25%      
Debt Instrument, Additional amount issued       $ 25,000,000.0          
Debt Instrument, Unamortized Premium $ 500,000                
Interest Expense, Debt, Excluding Amortization 5,700,000 $ 2,900,000              
Debt Issuance Costs, Gross   600,000       $ 1,500,000      
2033 Notes                  
Debt and Capital Lease Obligations [Line Items]                  
Debt Instrument, Face Amount         $ 10,000,000.0   $ 90,000,000.0    
Interest rate             7.75%    
Interest Expense, Debt, Excluding Amortization 7,700,000 7,700,000 $ 4,300,000            
Debt Issuance Costs, Gross             $ 3,600,000    
2027 Notes                  
Debt and Capital Lease Obligations [Line Items]                  
Debt Instrument, Face Amount               $ 18,000,000.0 $ 120,000,000.0
Interest rate                 7.35%
Interest Expense, Debt, Excluding Amortization $ 10,100,000 $ 10,100,000 $ 10,100,000            
Debt Issuance Costs, Gross                 $ 5,000,000.0