Debt - Schedule of Debt (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Total debt	$ 80,542	$ 78,558
Less: unamortized discounts and issuance costs	1,726	842
Total	78,816	77,716
Less: Short-term debt, including current portion of long-term debt	3,827	1,074
Total long-term debt, net	$ 74,989	76,642
DSS PPP Loan
Debt Instrument [Line Items]
Effective interest rate	0.00%
Total debt	$ 0	1,058
Medium-term Notes \| Adams Street Capital Agreement
Debt Instrument [Line Items]
Effective interest rate	7.58%
Total debt	$ 30,768	31,000
Medium-term Notes \| Adams Street Delayed Draw Term Loan
Debt Instrument [Line Items]
Effective interest rate	7.58%
Total debt	$ 14,888	0
Medium-term Notes \| Adams Street Incremental Term Loan
Debt Instrument [Line Items]
Effective interest rate	7.47%
Total debt	$ 31,840	0
Line of Credit \| Adams Street Capital Agreement \| Revolving Credit Facility
Debt Instrument [Line Items]
Effective interest rate	7.00%
Total debt	$ 0	0
Notes Payable to Banks \| SVB Loan
Debt Instrument [Line Items]
Effective interest rate	0.00%
Total debt	$ 0	46,500
Notes Payable to Banks \| D&O Financing Loan
Debt Instrument [Line Items]
Effective interest rate	1.75%
Total debt	$ 3,046	$ 0

Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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Effective interest rate for the funds borrowed under the debt agreement considering interest compounding and original issue discount or premium.

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Amount of unamortized debt discount (premium) and debt issuance costs.

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Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt, classified as current. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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Amount after unamortized (discount) premium and debt issuance costs of long-term debt classified as noncurrent and excluding amounts to be repaid within one year or the normal operating cycle, if longer. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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