Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Computed statutory income tax benefit from continuing operations	$ (20,354)	$ (21,810)	$ (35,965)
State and provincial income tax benefit, net of federal income taxes	(3,993)	(5,167)	(5,494)
Nondeductible stock based compensation	832	5,709	10,303
Nondeductible officer compensation	1,459	728	595
Impairment of goodwill	0	0	273
Research and development tax incentives	(958)	(524)	(1,772)
Acquisition and internal restructuring transaction costs	0	0	260
United States-foreign rate differential	(32)	(21)	(76)
Other, net	(46)	(306)	(72)
Income tax reconciliation income tax benefit before valuation allowance, total	(23,092)	(21,391)	(31,948)
Change in valuation allowance for deferred tax assets	22,932	21,309	31,018
Total income tax benefit from continuing operations	$ (160)	$ (82)	$ (930)