Stockholders' Equity - Other Offerings and ATM Facility (Details) - USD ($) $ / shares in Units, $ in Millions			1 Months Ended
	Apr. 30, 2023	Apr. 30, 2022	Jun. 30, 2021	Jan. 31, 2021
January 2021 Public Offering
Subsidiary, Sale of Stock [Line Items]
Common stock, sold				6,306,271
Common stock, price per share				$ 17.50
Aggregate gross proceeds				$ 110.4
Underwriting discounts and commissions				6.6
Payments of stock offering costs				0.4
Proceeds from common stock				$ 103.3
June 2021 Public Offering
Subsidiary, Sale of Stock [Line Items]
Common stock, sold			8,098,592
Common stock, price per share			$ 17.75
Aggregate gross proceeds			$ 143.8
Underwriting discounts and commissions			8.6
Payments of stock offering costs			0.3
Proceeds from common stock			$ 134.9
At The Market Offering | Silicon Valley Bank Securities LLC and Cantor Fitzgerald & Co.
Subsidiary, Sale of Stock [Line Items]
Common stock, sold	3,400,000	4,800,000
Aggregate gross proceeds	$ 27.5	$ 75.0
Payments of stock offering costs	$ 0.8	$ 2.3