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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, shares in Millions
1 Months Ended 3 Months Ended 12 Months Ended 17 Months Ended
Jan. 12, 2023
Jan. 31, 2023
Dec. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Aug. 31, 2021
Jul. 31, 2020
Subsidiary, Sale of Stock [Line Items]                  
Proceeds from issuance of common stock       $ 71,625,000 $ 101,146,000 $ 21,047,000      
Common stock                  
Subsidiary, Sale of Stock [Line Items]                  
Maximum aggregate offering price                 $ 250,000,000
Common stock | Subsequent event                  
Subsidiary, Sale of Stock [Line Items]                  
Maximum aggregate offering price   $ 250,000,000              
2020 Open Market Sales Agreement                  
Subsidiary, Sale of Stock [Line Items]                  
Offering sales commission (percent)       3.00%          
Common stock sold and issued (in shares)         23.3        
Proceeds from issuance of common stock         $ 100,000,000        
2020 Open Market Sales Agreement | Common stock                  
Subsidiary, Sale of Stock [Line Items]                  
Maximum aggregate offering price                 $ 100,000,000
2021 Open Market Sales Agreement                  
Subsidiary, Sale of Stock [Line Items]                  
Offering sales commission (percent)             3.00%    
Common stock sold and issued (in shares)     64.1            
Proceeds from issuance of common stock       $ 73,100,000          
Weighted-average share price (in dollars per share)       $ 1.14     $ 1.23    
Total of shares sold     79.8 79.8     79.8    
Total of gross proceeds     $ 98,100,000 $ 98,100,000     $ 98,100,000    
2021 Open Market Sales Agreement | Subsequent event                  
Subsidiary, Sale of Stock [Line Items]                  
Common stock sold and issued (in shares) 7.7                
Proceeds from issuance of common stock $ 20,000,000                
Weighted-average share price (in dollars per share) $ 2.60                
2021 Open Market Sales Agreement | Common stock                  
Subsidiary, Sale of Stock [Line Items]                  
Maximum aggregate offering price               $ 150,000,000  
2023 Open Market Sales Agreement | Subsequent event                  
Subsidiary, Sale of Stock [Line Items]                  
Offering sales commission (percent)   3.00%              
2023 Open Market Sales Agreement | Common stock | Subsequent event                  
Subsidiary, Sale of Stock [Line Items]                  
Maximum aggregate offering price   $ 150,000,000