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Related Party Transaction (Details) - USD ($)				3 Months Ended	9 Months Ended
Related Party Transaction (Details) - USD ($)	Oct. 29, 2021	Oct. 15, 2021	Sep. 22, 2021	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2020	Sep. 17, 2021	Dec. 23, 2020	Dec. 31, 2019	Mar. 31, 2018
Related Party Transaction [Line Items]
Aggregate principal amount exchanged				$ 46,000,000
Share price (usd per share)			$ 5.81	$ 5.83	$ 5.83			$ 7.68
Extinguishment of Convertible Senior Notes through issuance of common stock					$ 34,545,000	$ 0
Proceeds from issuance of common and preferred stock					22,640,000	$ 0
Subsequent event
Related Party Transaction [Line Items]
Shares issued (shares)		657,256
Affiliated Entity
Related Party Transaction [Line Items]
Share price (usd per share)			$ 5.81
Affiliated Entity \| Convertible Note purchases \| Foundation
Related Party Transaction [Line Items]
Aggregate principal amount									$ 12,000,000	$ 30,000,000
Affiliated Entity \| Convertible notes exchange
Related Party Transaction [Line Items]
Shares issued (shares)			5,428,699
Extinguishment of Convertible Senior Notes through issuance of common stock				$ 31,500,000
Affiliated Entity \| Convertible notes exchange \| Supporting Organization
Related Party Transaction [Line Items]
Aggregate principal amount				$ 42,000,000	$ 42,000,000
Aggregate principal amount exchanged			$ 42,000,000
Affiliated Entity \| Rescission Agreement
Related Party Transaction [Line Items]
Agreement to purchase shares (in shares)							2,643,228
Affiliated Entity \| December 2020 Securities Purchase Agreement including Rescission Agreement
Related Party Transaction [Line Items]
Sale of stock (shares)					201,820
Proceeds from issuance of common and preferred stock					$ 1,500,000
Affiliated Entity \| September 2021 Securities Purchase Agreement
Related Party Transaction [Line Items]
Aggregate number of shares (shares)					2,643,228
Purchase price					$ 20,300,000
Affiliated Entity \| September 2021 Securities Purchase Agreement \| Subsequent event
Related Party Transaction [Line Items]
Aggregate proceeds	$ 10,200,000