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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