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Common Stock - Shelf Registration Statement (Details) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Jun. 30, 2022 USD ($) $ / shares shares | Mar. 31, 2022 USD ($) | Jun. 30, 2023 USD ($) d | Jun. 30, 2022 USD ($) $ / shares shares | Jul. 28, 2023 USD ($) | May 31, 2022 USD ($) | Dec. 31, 2020 USD ($) | Nov. 30, 2020 USD ($)
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Maximum aggregate offering price of common stock, preferred stock, warrants, debt securities, and/or units |  |  |  |  |  |  |  | $ 250,000
Commission, percent of gross proceeds from sale of common stock |  |  | 3.00% |  |  |  |  |
Shares issued |  | $ 5 |  |  |  |  |  |
Proceeds from issuance of common stock |  |  | $ 0 | $ 39,584 |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Shelf registration statement, amount remaining |  |  |  |  | $ 75,000 |  |  |
December 2020 ATM |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Maximum aggregate offering price of common stock, preferred stock, warrants, debt securities, and/or units |  |  |  |  |  |  | $ 50,000 |
Shelf registration, termination, prior written notice | d |  |  | 10 |  |  |  |  |
Shares issued | $ 10,300 |  |  | $ 40,900 |  |  |  |
Stock issued (in shares) | shares | 1,300,000 |  |  | 4,204,113 |  |  |  |
common stock at a weighted average price (in dollar per share) | $ / shares | $ 7.90 |  |  | $ 9.72 |  |  |  |
Proceeds from issuance of common stock | $ 10,000 |  |  | $ 39,600 |  |  |  |
Underwriter commissions | $ 300 |  |  | $ 1,200 |  |  |  |
December 2020 ATM | Subsequent Event |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Sale of stock, remaining capacity |  |  |  |  | 8,100 |  |  |
May 2022 ATM |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Maximum aggregate offering price of common stock, preferred stock, warrants, debt securities, and/or units |  |  |  |  |  | $ 80,000 |  |
Shelf registration, termination, prior written notice | d |  |  | 10 |  |  |  |  |
May 2022 ATM | Subsequent Event |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Sale of stock, remaining capacity |  |  |  |  | $ 80,000 |  |  |

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