Annual report pursuant to Section 13 and 15(d)

Financing Arrangements - Narrative (Details)

v3.20.1
Financing Arrangements - Narrative (Details)
 1 Months Ended 3 Months Ended 12 Months Ended
Feb. 28, 2020
USD ($)
Jul. 19, 2019
USD ($)
Jun. 25, 2018
d
Mar. 27, 2018
USD ($)
d
$ / shares
shares
Jan. 06, 2017
USD ($)
Feb. 28, 2015
USD ($)
$ / shares
Feb. 28, 2015
USD ($)
day
d
$ / shares
Sep. 30, 2019
USD ($)
Mar. 31, 2017
USD ($)
Dec. 31, 2019
USD ($)
$ / shares
Dec. 31, 2018
USD ($)
$ / shares
Dec. 31, 2016
USD ($)
Apr. 15, 2020
USD ($)
$ / shares
Jul. 27, 2016
USD ($)
Oct. 18, 2013
USD ($)
Debt Instrument [Line Items]                              
Issuance costs   $ 3,500,000                          
Debt issuance costs, amount not yet capitalized   1,600,000                          
Issuance costs               $ 1,900,000              
Increase (decrease) in total liquidity   60,000,000                          
Consecutive trading days | d     45                        
Common stock, par value (in dollars per share) | $ / shares                   $ 0.0001 $ 0.0001        
Equipment acquired under capital lease                   $ 500,000   $ 1,000,000      
Finance lease, liability                   700,000          
Capital lease obligations                     $ 900,000        
Proceeds from borrowings on revolving credit facility                   73,150,000 56,600,000        
IFES Acquisition Corp Limited                              
Debt Instrument [Line Items]                              
Stated interest rate                             1.75%
Long term debt assumed during business acquisition                             $ 1,100,000
Borrowings outstanding under remaining facility letter                   600,000 $ 700,000        
EMC Acquisition                              
Debt Instrument [Line Items]                              
Capital lease obligation assumed                           $ 1,100,000  
Line of Credit                              
Debt Instrument [Line Items]                              
Maximum borrowing capacity on line of credit         $ 585,000,000                    
Loss on extinguishment of debt                 $ 14,400,000            
Percentage of outstanding equity in foreign subsidiaries pledged as collateral         65.00%                    
Line of Credit | Secured Debt                              
Debt Instrument [Line Items]                              
Maximum borrowing capacity on line of credit         $ 500,000,000                    
Periodic principal payment, as a percent         0.25%                    
Line of Credit | Secured Debt | Adjusted Base Eurocurrency Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         6.00%                    
Line of Credit | Secured Debt | Base Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         5.00%                    
Line of Credit | Revolving Credit Facility                              
Debt Instrument [Line Items]                              
Maximum borrowing capacity on line of credit         $ 85,000,000         85,000,000.0          
Line of Credit | Revolving Credit Facility | Adjusted Base Eurocurrency Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         6.00%                    
Line of Credit | Revolving Credit Facility | Base Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         5.00%                    
Line of Credit | Letters of Credit                              
Debt Instrument [Line Items]                              
Maximum borrowing capacity on line of credit         $ 15,000,000.0         15,000,000.0          
Line of Credit | 2017 Credit Agreement                              
Debt Instrument [Line Items]                              
Letters of credit outstanding                   4,300,000          
Secured Debt                              
Debt Instrument [Line Items]                              
Upsizing of term loan, amount   40,000,000                          
Reduction in principle payments   $ 25,300,000                          
Equity method investment, ownership percentage   35.00%                          
Total consolidated assets subject to liens (as a percent)                     75.00%        
Second Lien Notes                              
Debt Instrument [Line Items]                              
Stated interest rate       10.00%                      
Debt issued       $ 150,000,000                      
Debt instrument, interest rate, Paid-in-kind (as a percent)       12.00%                      
Covenant net leverage ratio, minimum       3.39                      
Second Lien Notes | After March 31, 2015                              
Debt Instrument [Line Items]                              
Redemption price as a percent       100.00%                      
Second Lien Notes | If Company Undergoes a Fundamental Change                              
Debt Instrument [Line Items]                              
Redemption price as a percent       100.00%                      
Second Lien Notes | On or After February 20, 2019                              
Debt Instrument [Line Items]                              
Redemption price as a percent       105.00%                      
Second Lien Notes | On or After February 20, 2022                              
Debt Instrument [Line Items]                              
Redemption price as a percent       102.50%                      
Second Lien Notes | During first fiscal quarter in 2019                              
Debt Instrument [Line Items]                              
Redemption price as a percent       101.00%                      
Equity warrants                              
Debt Instrument [Line Items]                              
Debt issued       $ 150,000,000.0                      
Exercise restrictions, beneficial ownership percentage       19.90%                      
Convertible subordinated notes                              
Debt Instrument [Line Items]                              
Debt instrument, face amount           $ 82,500,000.0 $ 82,500,000.0     $ 82,500,000.0          
Stated interest rate           2.75% 2.75%     2.75%          
Conversion ratio           2.1563 0.021563                
Conversion price (in dollar per share) | $ / shares           $ 463.75 $ 463.75                
Carrying amount of liability component                   $ 69,500,000          
Debt instrument, convertible, carrying amount of equity component                   13,000,000          
Convertible bridge loan                   $ 71,100,000 $ 70,400,000        
Exercise restrictions, beneficial ownership percentage       9.90%                      
Convertible subordinated notes | Liability                              
Debt Instrument [Line Items]                              
Issuance costs           $ 1,800,000 $ 1,800,000                
Convertible subordinated notes | Additional Paid-in Capital                              
Debt Instrument [Line Items]                              
Issuance costs           $ 300,000 $ 300,000                
Convertible subordinated notes | After March 31, 2015 | Redemption Scenario One                              
Debt Instrument [Line Items]                              
Threshold percent of stock price trigger             130.00%                
Convertible subordinated notes | After March 31, 2015 | Redemption Scenario Two                              
Debt Instrument [Line Items]                              
Threshold percent of stock price trigger             98.00%                
Consecutive business days to redeem | d             5                
Consecutive trading days | day             5                
Convertible subordinated notes | If Company Undergoes a Fundamental Change                              
Debt Instrument [Line Items]                              
Redemption price as a percent             100.00%                
Convertible subordinated notes | On or After February 20, 2019                              
Debt Instrument [Line Items]                              
Threshold percent of stock price trigger             130.00%                
Consecutive trading days | d             30                
Trading days | d             20                
Convertible subordinated notes | On or After February 20, 2022                              
Debt Instrument [Line Items]                              
Redemption price as a percent             100.00%                
Minimum | Line of Credit | Revolving Credit Facility | Adjusted Base Eurocurrency Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         5.50%                    
Minimum | Line of Credit | Revolving Credit Facility | Base Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         4.50%                    
Maximum | Line of Credit | Revolving Credit Facility | Adjusted Base Eurocurrency Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         6.00%                    
Maximum | Line of Credit | Revolving Credit Facility | Base Rate                              
Debt Instrument [Line Items]                              
Basis spread on variable rate         5.00%                    
Wireless Maritime Services                              
Debt Instrument [Line Items]                              
Equity method investment, ownership percentage                   49.00%       49.00%  
Penny Warrants | Equity warrants                              
Debt Instrument [Line Items]                              
Warrant to purchase convertible preferred stock (in shares) | shares       722,631                      
Common stock, par value (in dollars per share) | $ / shares       $ 0.0001                      
Warrant exercise price (in dollars per share) | $ / shares       0.25                      
Debt instrument, convertible, stock price trigger (in dollars per share) | $ / shares       $ 100.00           $ 100.00          
Penny Warrants | Minimum | Equity warrants                              
Debt Instrument [Line Items]                              
Exercise restrictions, beneficial ownership percentage       50.00%                      
Percentage of warrants held to nominate for board of directors       25.00%                      
Penny Warrants | Maximum | Equity warrants                              
Debt Instrument [Line Items]                              
Percentage of warrants held to nominate for board of directors       50.00%                      
Market Warrants | Equity warrants                              
Debt Instrument [Line Items]                              
Consecutive trading days | d       45                      
Warrant to purchase convertible preferred stock (in shares) | shares       520,000                      
Warrant exercise price (in dollars per share) | $ / shares       $ 39.25                      
Debt instrument, convertible, stock price trigger (in dollars per share) | $ / shares       $ 60.00           $ 60.00          
Market Warrants | Minimum | Equity warrants                              
Debt Instrument [Line Items]                              
Exercise restrictions, beneficial ownership percentage       25.00%                      
Subsequent Event                              
Debt Instrument [Line Items]                              
Common stock, par value (in dollars per share) | $ / shares                         $ 0.0001    
Minimum amount of outstanding debt and cash and cash equivalents                         $ 17,500,000    
Subsequent Event | Line of Credit | Revolving Credit Facility                              
Debt Instrument [Line Items]                              
Proceeds from borrowings on revolving credit facility $ 41,800,000