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Stockholders' Equity (Deficit) - At The Market Issuances (Details) - At-The-Market Issuance Sales Agreement - USD ($)
$ in Millions
 1 Months Ended 6 Months Ended 12 Months Ended 24 Months Ended
May 31, 2023
Jun. 30, 2021
Jun. 30, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2022
2021 Sales Agreement            
Stockholders' Equity (Deficit)            
Number of shares sold by the entity       738,900 497,043 1,235,943
Value of shares sold by the entity       $ 159.1   $ 199.9
Net proceeds after deducting commissions and other transactions costs       $ 155.9   $ 195.8
Remaining reserved amount under shelf registration     $ 0.0      
2023 Sales Agreement            
Stockholders' Equity (Deficit)            
Number of shares sold by the entity     85,901      
Value of shares sold by the entity     $ 22.4      
Net proceeds after deducting commissions and other transactions costs     21.8      
Remaining reserved amount under shelf registration     $ 177.6      
Cowen & Co. LLC | Maximum            
Stockholders' Equity (Deficit)            
Maximum aggregate offering price $ 200.0 $ 200.0