Segments - Reconciliation of Net Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Segment Reporting Information [Line Items]
Segment Adjusted EBITDA for operating segments	$ (21,436)	$ (17,844)	$ (52,475)
Other expenses:
Depreciation and amortization	(13,761)	(17,516)	(24,896)
Loss on settlement agreement	0	(11,436)	0
Stock-based compensation expense	(13,904)	(18,366)	(18,950)
Equity in net loss of affiliates	(3)	(1,176)	(6,730)
Other	(24)	(35)	(837)
Loss before income taxes	(96,925)	(103,855)	(171,264)
Add recognition of previously deferred revenue associated with upfront and milestone payments
Segment Reporting Information [Line Items]
Add recognition of previously deferred revenue associated with upfront and milestone payments	397	20,205	7,505
Operating segments
Segment Reporting Information [Line Items]
Remove cash paid for capital expenditures, net of proceeds from sale of assets, and cash paid for investments in affiliates	5,774	389	11,886
Operating segments | Add recognition of previously deferred revenue associated with upfront and milestone payments
Segment Reporting Information [Line Items]
Add recognition of previously deferred revenue associated with upfront and milestone payments	2,034	25,005	14,721
Corporate And Reconciling Items [Member]
Other expenses:
Interest expense	(18,891)	(18,400)	(17,666)
Depreciation and amortization	(13,761)	(15,042)	(16,142)
Loss from disposals of assets	(614)	(4,375)	(3,018)
Impairment losses	(543)	(920)	(30,810)
Loss on settlement agreement	0	(11,436)	0
Stock-based compensation expense	(13,904)	(19,746)	(15,098)
Adjustment related to accrued bonuses paid in equity awards	0	2,833	0
Equity in net loss of affiliates	(3)	(1,138)	(2,416)
Other	(19)	11	67
Unallocated corporate costs
Other expenses:
Loss before income taxes	(33,506)	(37,479)	(46,007)
Eliminations
Other expenses:
Loss before income taxes	(2,056)	(5,713)	(14,306)
Segment Adjusted EBITDA for reportable segments
Segment Reporting Information [Line Items]
Segment Adjusted EBITDA for operating segments	$ (21,436)	$ (17,844)	$ (48,974)