Long-Term Debt and Credit Facilities - Receivables Securitization (Details) - USD ($)				1 Months Ended	3 Months Ended
	Dec. 17, 2020	May 21, 2020	Jan. 10, 2020	Dec. 31, 2020	Mar. 31, 2021	Mar. 31, 2020	May 18, 2018
Outstanding borrowings under the facility			$ 0
Proceeds from initial borrowings					$ 3,000,000	$ 29,750,000
A/R Facility
Accounts Receivable from Securitization			$ 160,000,000.0
Accounts Receivable, Securitization, Term			5 years
Minimum liquidity for A/R facility			$ 60,000,000.0				$ 35,000,000.0
Forbearance fee							$ 5,000,000
Forbearance fee payable			$ 4,800,000
Variable interest rate (as a percent)			4.50%
Outstanding borrowings under the facility	$ 83,000,000.0
Facility term (years)			5 years
Early termination fee	800,000
Write off of previously recognized debt issuance costs	8,200,000
Repayment of principal, accrued interest and fees	$ 500,000
A/R Facility | Base rate
Variable interest rate (as a percent)		5.75%	3.75%
A/R Facility | Federal funds rate
Variable interest rate (as a percent)			0.50%
A/R Facility | One-month adjusted LIBOR
Variable interest rate (as a percent)			1.00%
A/R Facility | LIBOR
Variable interest rate (as a percent)		6.75%	4.75%
Floor interest rate			1.00%
Securitization Facility
Variable interest rate (as a percent)				8.75%
Outstanding borrowings under the facility					$ 91,900,000
Facility term (years)	5 years
Available facility amount	$ 145,000,000.0
Initial funding supported by receivables	92,000,000.0
Further funding supported by inventory and intellectual property	53,000,000.0
Proceeds from initial borrowings	$ 92,000,000.0
Securitization Facility | Federal funds rate
Variable interest rate (as a percent)				0.50%
Securitization Facility | One-month adjusted LIBOR
Variable interest rate (as a percent)				1.00%
Securitization Facility | LIBOR
Variable interest rate (as a percent)				9.75%