Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Common stock, par value (in usd per share)	$ 0.001	$ 0.001
Common stock, authorized (in shares)	100,000,000	100,000,000
Common stock, issued (in shares)	62,284,507	60,221,799
Common stock, outstanding (in shares)	62,284,507	60,221,799
Convertible notes, current, measured at fair value	$ 3,454	$ 4,222
Convertible notes, noncurrent, measured at fair value	$ 3,380	$ 8,071