Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Taxes [Line Items]
Benefit for income taxes from continuing operations	$ 7,675	$ 1,902	$ 14,813
Valuation allowance	152,966	131,042
Increase (decrease) in valuation allowance due to deferred tax assets	21,900	45,000
Increase (decrease) in valuation allowance due to discontinued operations	(2,000)
Research and development tax credits	22,724	21,618
Unrecognized tax benefits, if recognized, would affect the effective tax rate	100	$ 200	$ 200
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	497,000
Research and development tax credits	15,900
State
Income Taxes [Line Items]
Net operating loss carryforwards	266,900
Research and development tax credits	8,600
Foreign
Income Taxes [Line Items]
Net operating loss carryforwards	$ 5,200