Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Deferred tax assets
Allowance for doubtful accounts	$ 1,506	$ 1,816
Inventory	370	289
Equity securities and investments in affiliates	570	570
Property, plant and equipment	0	1,882
Intangible assets	69,679	74,981
Accrued liabilities	3,090	1,834
Lease liabilities	2,839	6,140
Stock-based compensation	15,227	16,402
Deferred revenue	7,300	7,423
Research and development tax credits	11,168	10,210
Net operating, capital loss, and interest expense carryforwards	301,791	275,519
Total deferred tax assets	413,540	397,066
Less: Valuation allowance	408,396	387,348	$ 349,008	$ 292,217
Net deferred tax assets	5,144	9,718
Deferred tax liabilities
Property, plant and equipment	250	0
Right-of-use assets	2,735	5,011
Long-term debt	4,698	7,604
Total deferred tax liabilities	7,683	12,615
Net deferred tax liabilities included in continuing operations	$ (2,539)	$ (2,897)