Yes, SiriusXM has standalone tuners for that. They also have home based kits for the radio you would use in your car - unplug from the car, plug in the house. I use the same tuner for two cars and a boat and the internet in the garage.
However, if you have a PC in the garage, you can get an internet streaming account without using any additional hardware. I have a Sirius in the cars/boat, and added on the internet streaming for $3 / mo. Not sure how much a internet only account is, but not too bad I'd guess. It works quite well and is CD quality, although the quality of your connection will define the number of dropouts you may get. When I was on a low speed connection, it dropped once a day or so. Now, almost never (10 mbps cable).