Fair Value of Financial Instruments - Schedule of Debt (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Aug. 02, 2021	Nov. 30, 2019	Feb. 28, 2014
Debt Instrument [Line Items]
Advances under revolving credit agreement	$ 6,838,000	$ 0	$ 0
Convertible Debt
Debt Instrument [Line Items]
Par Value	55,578,000	56,079,000
Convertible Debt | Carrying Value
Debt Instrument [Line Items]
Debt	54,160,000	54,224,000
Convertible Debt | Fair Value
Debt Instrument [Line Items]
Debt	82,481,000	119,021,000
Convertible Debt | 2014 Notes
Debt Instrument [Line Items]
Par Value	578,000	1,079,000				$ 201,300,000
Convertible Debt | 2014 Notes | Carrying Value
Debt Instrument [Line Items]
Debt	568,000	1,059,000
Convertible Debt | 2014 Notes | Fair Value
Debt Instrument [Line Items]
Debt	601,000	1,122,000
Convertible Debt | 2019 Notes
Debt Instrument [Line Items]
Par Value	55,000,000	55,000,000			$ 55,000,000
Convertible Debt | 2019 Notes | Carrying Value
Debt Instrument [Line Items]
Debt	53,592,000	53,165,000
Convertible Debt | 2019 Notes | Fair Value
Debt Instrument [Line Items]
Debt	81,880,000	117,899,000
Secured Debt
Debt Instrument [Line Items]
Par Value	10,000,000	0		$ 10,000,000
Secured Debt | Carrying Value
Debt Instrument [Line Items]
Debt	10,049,000	0
Secured Debt | Fair Value
Debt Instrument [Line Items]
Debt	10,113,000	0
Line of Credit | Revolving Credit Facility
Debt Instrument [Line Items]
Advances under revolving credit agreement	6,838,000	0
Line of Credit | Revolving Credit Facility | Carrying Value
Debt Instrument [Line Items]
Advances under revolving credit agreement	6,838,000	0
Line of Credit | Revolving Credit Facility | Fair Value
Debt Instrument [Line Items]
Advances under revolving credit agreement	$ 6,838,000	$ 0