Debt - 2019 Exchange Notes (Details)	1 Months Ended			3 Months Ended	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares	Sep. 30, 2020 USD ($) shares	May 31, 2019 USD ($) item shares	Nov. 30, 2020 USD ($) shares	Dec. 31, 2020 USD ($) shares	Dec. 31, 2019 USD ($) shares
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Principal amount of exchange note						$ 5,050,000
Loss on extinguishment of debt					$ 1,864,000	$ 4,941,000
Outstanding | shares	857,055				857,055	5,537,062
Series D perpetual preferred stock
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Shares issued (in shares) | shares		842,500
Preferred stock dividend rate (as a percent)		8.00%
Preferred stock dividend payable in arrears		24 months
Fair Value of Stock, Inception	$ 6,400,000				$ 6,400,000
Preferred Stock Redemption Price | $ / shares	$ 8.00
Shares issued on conversion | shares	15,889,871
Shares converted | shares	859,348
Loss on extinguishment of debt	$ 1,300,000
Outstanding | shares	0				0
Series D perpetual preferred stock | Minimum
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Effective interest rate	12.00%				12.00%
Series D perpetual preferred stock | Maximum
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Effective interest rate	15.00%				15.00%
Global amendment agreement
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Increase in principal debt (in percent)		5.00%
Increase in principal debt		$ 2,600,000
Incremental value of cash flows		$ 228,000
Exchange Notes
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Number of Napo convertible notes | item			2
Number of Napo convertible notes exchanged for CVP note | item			2
Loss on extinguishment of debt			$ 2,000,000
2019 Exchange Note 1
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Principal amount			10,100,000
Principal amount and accrued interest			10,500,000
Accrued interest on notes payable			$ 411,000
Interest rate (as a percent)			10.00%
Common stock issued in exchange of debt | shares			1,119,440	20,221,724
Convertible debt payable	$ 0				$ 0	$ 4,400,000
Principal amount of exchange note				$ 5,000,000
Repayments of notes payable, principal			$ 6,200,000
Repayments of notes payable, interest			$ 90,000
Share issued for principal and interest payment | shares			1,119,440	20,221,724
Loss on extinguishment of debt			$ 429,000	$ 560,000
2019 Exchange Note 2
Convertible Promissory Notes and Common Stock Warrants [Line Items]
Principal amount	$ 1,000,000		$ 2,300,000		1,000,000
Interest rate (as a percent)			10.00%
Common stock issued in exchange of debt | shares	1,250,000
Convertible debt payable	$ 1,400,000				$ 1,400,000	$ 2,300,000
Share issued for principal and interest payment | shares	1,250,000