Stockholders' Equity - Shares Reserved For Future Issuance (Details) - shares shares in Thousands	Dec. 31, 2023	Dec. 31, 2022
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	58,020	67,235
Incentive Plan
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	3,376	4,206
Inducement Plan
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	1,651	947
ESPP
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	5,454	5,792
Share-based Payment Arrangement, Option
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	41,032	36,520
Restricted Stock Units (RSUs)
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	6,507	4,747
Warrant
Subsidiary, Sale of Stock [Line Items]
Shares reserved for future issuance (in shares)	0	15,023