CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Loss	Accumulated Deficit	Noncontrolling Interests
Balance at Dec. 31, 2021	$ 85,617	$ 174	$ 1,048,936	$ (149)	$ (964,342)	$ 998
Balance (in shares) at Dec. 31, 2021		173,670
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	2,138	$ 3	2,135
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		3,134
Stock-based compensation	6,426		6,426
Other comprehensive loss	(1,486)			(1,486)
Net loss	(12,284)				(12,284)
Balance at Mar. 31, 2022	80,411	$ 177	1,057,497	(1,635)	(976,626)	998
Balance (in shares) at Mar. 31, 2022		176,804
Balance at Dec. 31, 2022	68,562	$ 177	1,077,341	(2,787)	(1,007,121)	952
Balance (in shares) at Dec. 31, 2022		177,582
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases	426	$ 3	423
Issuance of common stock from exercise of stock options, vesting of restricted stock units, and ESPP purchases (in shares)		2,890
Stock-based compensation	5,669		5,669
Other comprehensive loss	546			546
Net loss	(15,641)				(15,619)	(22)
Balance at Mar. 31, 2023	$ 59,562	$ 180	$ 1,083,433	$ (2,241)	$ (1,022,740)	$ 930
Balance (in shares) at Mar. 31, 2023		180,472