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Liquidity, Going Concern and Management Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Cash, cash equivalents, restricted cash and restricted cash equivalents, including disposal group and discontinued operations $ 251,420 $ 343,226 $ 376,080 $ 136,221
Working capital deficit (111,400)      
Accumulated deficit (1,845,542) (1,558,088)    
Net loss from continuing operations (293,102) $ (425,045) $ (351,786)  
Sales Agreement        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Proceeds from issuance of common stock 116,900      
Deduction of commission and expenses $ 2,800      
Issuance of common stock for cash (in shares) 81,694,729      
Weighted average gross sale price per share (in dollars per share) $ 1.46