I have the same receiver from my previous car/head unit, it won't work with the stock pioneer unit..
this is the back of the unit:
front for reference:
doesn't have the connection for the SXV200.. did some searching around when I (recently) bought my 2012 xB with stock pioneer unit (OEL display), and the parts to add the sat functionality are pricey.. for the cost, you could add an aftermarket head unit, if you're willing to re-wire a new microphone/USB port.. not sure if there is an adapter/module for steering wheel controls for scion to aftermarket units either (crutchfield has been inconclusive)..
I have a pioneer DEH-X8500BS
that had everything except HD radio and steering wheel controls, so I'm still pondering just selling my old unit+sat kit and sticking with stock or going through the trouble of installing it pretty much just for sat radio..
I think these are two of the parts you'd need, there is a third listed on some ebay listings, and on toyota parts
it has a "cover" but not sure if that is required or not.. XM Radio Fit Kit
and XM Radio Receiver