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Stockholders' Equity - Common Stock and Warrants (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Mar. 31, 2021
Jun. 30, 2021
Jun. 30, 2020
Collaborative Agreements      
Proceeds from warrant exercises   $ 19,230 $ 0
Outstanding warrants, convertible to common stock | Stock Exercises at $7.06      
Collaborative Agreements      
Stock issued from equity financing (in shares) 1,260,000    
Warrants exercise price (in dollars per share) $ 7.06    
Outstanding warrants, convertible to common stock | Stock Exercises at $7.98      
Collaborative Agreements      
Stock issued from equity financing (in shares) 1,294,999    
Warrants exercise price (in dollars per share) $ 7.98    
Proceeds from warrant exercises $ 19,200