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Long-Term Debt, Net, and Other Borrowings (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Debt Instrument [Line Items]        
2022   $ 8,750,000    
2023   15,000,000    
2024   148,750,000    
Total principal outstanding   172,500,000    
Unamortized debt discount   (448,000)    
Unamortized debt issuance costs   (387,000)    
Finance lease liabilities   582,000    
Total   172,247,000    
Less: current portion   (12,878,000)    
Total long-term debt, net and other borrowings   159,369,000   $ 163,121,000
Gain on extinguishment of debt   $ 0 $ 889,000  
Royalty-Backed Loan        
Debt Instrument [Line Items]        
Debt instrument face amount $ 50,000,000   $ 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   2.20%