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Debt - Net Carrying Amount of Liability Component of Debt Discount (Details) - USD ($)
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Debt Instrument [Line Items]      
Aggregate principal amount $ 108,792,000 $ 181,580,000  
Less unamortized discounts and debt issuance costs (2,957,000) (21,778,000)  
Total net carrying value 114,167,000 162,246,000  
Term Loan      
Debt Instrument [Line Items]      
Aggregate principal amount     $ 83,500,000
Revolving Credit Facility      
Debt Instrument [Line Items]      
Aggregate principal amount 25,000,000 25,000,000  
2023 Series D Convertible Notes | Convertible Notes Payable      
Debt Instrument [Line Items]      
Aggregate principal amount 0 50,323,000  
2023 Series D Convertible Notes      
Debt Instrument [Line Items]      
Deferred gain of the 2023 Series D Notes (due May 2023) 20,000 2,444,000  
2023 Series D Convertible Notes | Convertible Notes Payable      
Debt Instrument [Line Items]      
Aggregate principal amount 277,000 3,352,000  
Senior Notes, due February 2023 | Term Loan      
Debt Instrument [Line Items]      
Aggregate principal amount 83,515,000 102,905,000  
2023 Term Loans      
Debt Instrument [Line Items]      
Deferred gain of the 2023 Series D Notes (due May 2023) $ 8,312,000 $ 0