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Property and Equipment (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Property, Plant and Equipment [Abstract]      
Computer equipment and software $ 11,320 $ 20,876  
Engineering and test equipment 1,333 4,168  
Building and improvements 3,702 3,711  
Leasehold improvements 11,315 11,364  
Furniture and fixtures 1,121 1,549  
Property and equipment, gross 28,791 41,668  
Less: accumulated depreciation (18,574) (31,617)  
Property and equipment, net 10,217 10,051  
Depreciation 3,900 3,700 $ 3,900
Capitalized computer software amortization 200 300 $ 500
Capitalized computer software accumulated amortization 1,100 9,200  
Net book value of capitalized computer software $ 200 $ 300