Debt - Narrative (Details)							1 Months Ended			4 Months Ended	9 Months Ended	12 Months Ended
	Feb. 09, 2024 USD ($) business_day	Jun. 15, 2023 USD ($)	Jun. 09, 2023 USD ($)	Aug. 12, 2022 USD ($) $ / shares shares	Jun. 15, 2021 USD ($) $ / shares shares	Jun. 09, 2021 USD ($)	Aug. 31, 2022 USD ($)	Aug. 31, 2021 USD ($)	Jan. 31, 2021 USD ($)	Jul. 31, 2020 USD ($)	Sep. 30, 2023 USD ($) quarterly_installment	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Mar. 31, 2024	Dec. 15, 2023	Jun. 16, 2023 USD ($)	May 11, 2023	Feb. 26, 2023	Dec. 15, 2022	Mar. 31, 2022 USD ($)
Debt Instrument [Line Items]
Payments of debt issuance costs												$ 0	$ 1,475,000
Stock issued during period, reverse stock splits (in shares) | shares				115,000
Stock issued during period, reverse stock splits				$ 700,000
Total debt												172,227,000	182,500,000
Gain (loss) on extinguishment of debt												0	(14,610,000)
Debt, noncurrent												146,524,000	145,962,000
PRF funds returned to HHS												0	0
Repayments of notes to related parties												100,000	0
Repayments of seller notes												$ 0	18,680,000
Innovations Group
Debt Instrument [Line Items]
Noncontrolling interest, ownership percentage by parent																		100.00%	100.00%
Related Party
Debt Instrument [Line Items]
Notes payable											$ 200,000		200,000
Affiliated Entity
Debt Instrument [Line Items]
Notes payable to related parties, interest rate											3.50%
Number of quarterly installments | quarterly_installment											8
Accrued interest on debt											$ 0		0
Interest expense											$ 8,000		42,000
Repayments of notes to related parties													100,000	$ 400,000
2025 Notes | Disposal Group, Not Discontinued Operations | Innovation Group
Debt Instrument [Line Items]
Net proceeds			0.20
2025 Notes | Convertible notes
Debt Instrument [Line Items]
Principal amount				67,500,000
Proceeds from debt				22,500,000
Repayments of convertible debt		$ 10,300,000
Payments of debt issuance costs				$ 1,500,000
Convertible, shares issuable (in shares) | shares				3,857,142
Conversion price (in dollars per share) | $ / shares				$ 17.50
Debt instrument, interest rate floor				10.50%
Effective interest rate												14.38%				14.41%				12.21%
Debt redemption, repurchase increment				$ 1,000
Debt repurchase, percentage of principal amount			100.00%	105.00%
Sale of assets, net proceeds threshold for repurchase				$ 15,000,000
Sale of assets, cash repurchase price as a percentage of net proceeds				20.00%
Sale of assets, net proceeds threshold, redemption price percentage				100.00%
Repurchased face amount			$ 10,300,000
Percentage of principal amount redeemed		15.22%
Total debt												$ 57,227,000	67,500,000				$ 57,200,000
Write off of debt issuance costs												300,000
Interest expense												10,009,000	3,368,000
2025 Notes | Convertible notes | Subsequent Event
Debt Instrument [Line Items]
Principal amount	$ 43,357,000
Effective interest rate															14.33%
Premium percentage	0.0500
Previously held number of business days before deadline for timely performance | business_day	20
Current number of business days before deadline for timely performance | business_day	7
Supplemental indentures, principal amount outstanding percent	75.76%
2025 Notes | Convertible notes | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Basis spread on variable rate				9.00%
2026 Notes | Convertible notes
Debt Instrument [Line Items]
Principal amount				$ 3,000,000	$ 160,000,000
Debt issuance costs				2,200,000	$ 8,100,000
Repayments of convertible debt				$ 45,000,000
Convertible, shares issuable (in shares) | shares				1,079,812	1,502,347
Conversion price (in dollars per share) | $ / shares				$ 106.50	$ 106.50
Debt repurchase, percentage of principal amount				100.00%
Total debt												115,000,000	115,000,000
Debt instrument, interest rate					6.25%	6.25%
Proceeds from issuance of long-term debt					$ 151,900,000
Fair value of derivative liability												100,000	100,000
Debt instrument, fact amount, per instrument				$ 2,000,000
Gain (loss) on extinguishment of debt													(14,600,000)
Interest expense												17,828,000	21,528,000
2026 Notes | Convertible notes | Subsequent Event
Debt Instrument [Line Items]
Principal amount	$ 86,329,000
Sale of assets, cash repurchase price as a percentage of net proceeds	100.00%
Sale of assets, net proceeds threshold, redemption price percentage	100.00%
Supplemental indentures, principal amount outstanding percent	75.07%
PRF | Unsecured Debt | TTC
Debt Instrument [Line Items]
Proceeds from issuance of long-term debt									$ 500,000
Funds used																					$ 500,000
PRF | Unsecured Debt | BHS
Debt Instrument [Line Items]
Proceeds from issuance of long-term debt										$ 200,000
Funds used																					100,000
PRF funds returned to HHS																					$ 100,000
Seller Notes | Notes Payable
Debt Instrument [Line Items]
Principal amount												$ 0	0
Interest expense													$ 1,200,000
Repayments of seller notes						$ 88,100,000	$ 18,700,000	$ 11,100,000
Accrued interest							$ 1,900,000