Long-Term Debt, Net, and Other Borrowings (Details) - USD ($)		3 Months Ended	9 Months Ended
	Mar. 31, 2021	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Debt Instrument [Line Items]
Remainder of 2021		$ 2,500,000	$ 2,500,000
2022		11,250,000	11,250,000
2023		15,000,000	15,000,000
2024		148,750,000	148,750,000
Total principal outstanding		177,500,000	177,500,000
Unamortized debt discount		(548,000)	(548,000)
Unamortized debt issuance costs		(473,000)	(473,000)
Finance lease liabilities		618,000	618,000
Total		177,097,000	177,097,000
Less: current portion		(10,356,000)	(10,356,000)
Total long-term debt, net and other borrowings		$ 166,741,000	166,741,000		$ 197,699,000
Gain on extinguishment of debt			$ 889,000	$ 0
Royalty-Backed Loan
Debt Instrument [Line Items]
Debt instrument face amount	$ 50,000,000
Extinguishment of debt	30,900,000
Prepayment of debt	500,000
Gain on extinguishment of debt	$ 900,000
2019 Term Loan Facility
Debt Instrument [Line Items]
Debt instrument term		5 years
Interest rate		2.10%	2.10%