Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Deferred tax assets
Allowance for doubtful accounts	$ 2,140	$ 1,490
Inventory	415	614
Equity securities and investments in affiliates	11,933	30,241
Property, plant and equipment	1,830	0
Intangible assets	85,308	78,858
Accrued liabilities	3,385	4,412
Lease liabilities	10,035
Stock-based compensation	19,389	28,885
Deferred revenue	14,876	16,297
Research and development tax credits	9,686	10,558
Investments in subsidiaries included in discontinued operations	8,592	0
Net operating and capital loss carryforwards	196,663	129,291
Total deferred tax assets	364,252	300,646
Less: Valuation allowance	349,008	292,217	$ 211,078	$ 253,549
Net deferred tax assets	15,244	8,429
Deferred tax liabilities
Property, plant and equipment	0	149
Right-of-use assets	8,091
Intangible assets	0	0
Long-term debt	9,987	12,136
Total deferred tax liabilities	18,078	12,285
Net deferred tax liabilities included in continuing operations	$ (2,834)	$ (3,856)