Stockholders' Equity (Details) - USD ($) $ / shares in Units, shares in Millions	1 Months Ended	3 Months Ended	12 Months Ended			14 Months Ended	29 Months Ended
	Jan. 31, 2023	Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2021	Dec. 31, 2023	Aug. 31, 2021	Jul. 31, 2020
Subsidiary, Sale of Stock [Line Items]
Proceeds from issuance of common stock in at the market offering, net of issuance costs			$ 119,236,000	$ 71,625,000	$ 101,146,000
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 in at the market offering, net of issuance costs					$ 100,000,000
Weighted-average share price (in dollars per share)						$ 4.30
2021 Open Market Sales Agreement
Subsidiary, Sale of Stock [Line Items]
Offering sales commission (percent)							3.00%
Common stock sold and issued (in shares)		15.5
Proceeds from issuance of common stock in at the market offering, net of issuance costs		$ 51,900,000
Weighted-average share price (in dollars per share)		$ 3.35					$ 1.57
Total of gross proceeds		$ 150,000,000
2023 Open Market Sales Agreement
Subsidiary, Sale of Stock [Line Items]
Offering sales commission (percent)	3.00%
Common stock sold and issued (in shares)			16.8
Proceeds from issuance of common stock in at the market offering, net of issuance costs			$ 70,000,000
Weighted-average share price (in dollars per share)			$ 4.17
Common stock
Subsidiary, Sale of Stock [Line Items]
Maximum aggregate offering price	$ 250,000,000								$ 250,000,000
Common stock | 2020 Open Market Sales Agreement
Subsidiary, Sale of Stock [Line Items]
Maximum aggregate offering price									$ 100,000,000
Common stock | 2021 Open Market Sales Agreement
Subsidiary, Sale of Stock [Line Items]
Maximum aggregate offering price								$ 150,000,000
Common stock | 2023 Open Market Sales Agreement
Subsidiary, Sale of Stock [Line Items]
Maximum aggregate offering price	$ 150,000,000