Quarterly report pursuant to Section 13 or 15(d)

Recent Accounting Pronouncements - Narrative (Details)

v3.20.2
Recent Accounting Pronouncements - Narrative (Details) - USD ($)
$ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2019
Jun. 30, 2020
Mar. 31, 2020
Jan. 01, 2020
Sep. 30, 2019
Sep. 01, 2019
Aug. 31, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Reduction accumulated deficit $ 187,361 $ 346,078 $ 207,000 $ 228,633   $ 368,593 $ 379,400 $ 379,400 $ (678,864) $ (623,775) $ (588,975)
Reduction contract assets, net current portion, included in prepaid and other current assets $ (20,387) $ (19,953)                  
Accounting Standards Update [Extensible List] us-gaap:AccountingStandardsUpdate201613Member us-gaap:AccountingStandardsUpdate201613Member                  
Cumulative Effect, Period of Adoption, Adjustment                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Reduction accumulated deficit   $ (1,627)                  
Reduction contract assets, net current portion, included in prepaid and other current assets         $ 1,627            
Accumulated Deficit                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Reduction accumulated deficit $ (189,779) (33,331) $ (170,615) $ (148,963)   $ (10,807) $ 0 $ 0 $ (1,122,266) $ (1,068,064) $ (1,036,294)
Accumulated Deficit | Cumulative Effect, Period of Adoption, Adjustment                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Reduction accumulated deficit   $ (1,627)     $ 1,627