Stockholders' Equity - Narrative (Details)			1 Months Ended	3 Months Ended	12 Months Ended
	Mar. 02, 2020 shares	Nov. 26, 2019 $ / shares shares	Jun. 30, 2020 USD ($) $ / shares shares	Mar. 31, 2022 USD ($) shares	Dec. 31, 2022 USD ($) vote $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) shares	Dec. 31, 2013 $ / shares shares	Nov. 30, 2022 USD ($)	Jun. 09, 2022 $ / shares shares	Jun. 08, 2022 shares	Feb. 28, 2022 USD ($)	May 31, 2020 USD ($)
Class of Stock [Line Items]
Preferred stock, shares authorized (in shares)					25,000,000	25,000,000
Preferred stock, shares issued (in shares)					0	0
Common stock, shares issued (in shares)					105,144,864	73,709,056
Number of shares into which warrant issued during period may be converted								129,491
Warrant exercise price per share (in dollars per share) | $ / shares								$ 0.05
Contractual life of warrants								10 years
Number of shares of common stock into which warrants may be converted (in shares)					22,590	39,474
Common stock, par value (in dollars per share) | $ / shares					$ 0.0001	$ 0.0001				$ 0.0001
Common stock, shares authorized (in shares)					350,000,000	175,000,000				350,000,000	175,000,000
Number of shares reserved for future issuance (in shares)					11,944,664	9,199,512
Common Stock
Class of Stock [Line Items]
Exercise of common stock warrant (in shares)					16,654
Number of votes per common share | vote					1
Exchange Warrants
Class of Stock [Line Items]
Warrant exercise price per share (in dollars per share) | $ / shares		$ 0.0001
Number of shares of common stock into which warrants may be converted (in shares)		2,575,000
Exercise of common stock warrant (in shares)	2,574,971
Number of common shares exchanged for warrants (in shares)		2,575,000
Warrants and share-based payment awards
Class of Stock [Line Items]
Number of shares reserved for future issuance (in shares)					11,944,664	9,199,512
At Market Equity Offering Program (2020 ATM)
Class of Stock [Line Items]
Amount of shares authorized to be offered and sold | $													$ 100,000,000
Proceeds from issuance of common stock | $				$ 54,800,000		$ 43,100,000
At Market Equity Offering Program (2020 ATM) | Common Stock
Class of Stock [Line Items]
Number of shares sold (in shares)				11,740,210		3,961,074
At Market Equity Offering Program (February 2022 ATM)
Class of Stock [Line Items]
Amount of shares authorized to be offered and sold | $												$ 100,000,000
Proceeds from issuance of common stock | $					$ 96,400,000
At Market Equity Offering Program (February 2022 ATM) | Common Stock
Class of Stock [Line Items]
Number of shares sold (in shares)					18,757,665
Stock issuance program, remaining unsold and available amount | $					$ 1,600,000
At Market Equity Offering Program (November 2022 ATM)
Class of Stock [Line Items]
Amount of shares authorized to be offered and sold | $									$ 150,000,000
At Market Equity Offering Program (November 2022 ATM) | Common Stock
Class of Stock [Line Items]
Common stock, shares issued (in shares)					0
Public Stock Offering
Class of Stock [Line Items]
Number of shares sold (in shares)			9,200,000
Proceeds from issuance of common stock | $					$ 0	$ 0	$ 163,990,000
Shares sold, price per share (in dollars per share) | $ / shares			$ 19.00
Proceeds from stock issuance, net of issuance costs | $			$ 164,000,000
Public Stock Offering | Common Stock
Class of Stock [Line Items]
Number of shares sold (in shares)							9,200,000