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Stockholders' Equity - Common Stock and Warrants (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended	3 Months Ended		9 Months Ended
	Sep. 29, 2021	Sep. 30, 2021	Sep. 30, 2021	Mar. 31, 2021	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Collaborative Agreements
Proceeds from warrants exercised					$ 19,230	$ 0
Debt conversion, converted instrument, shares issued (in shares)			472,356
Common stock, par value (in dollars per share)		$ 0.01	$ 0.01		$ 0.01		$ 0.01
Equity component of the convertible notes			$ 2,640		$ 2,661
Proceeds from private placement					199,750	$ 0
Additional Paid-In Capital
Collaborative Agreements
Equity component of the convertible notes			$ 2,635		$ 2,656
Common Stock
Collaborative Agreements
Stock issued from equity financing (in shares)			11,296,660		11,296,660
Equity component of the convertible notes			$ 5		$ 5
Convertible Senior Notes 2016, Due 2023 | Convertible Notes
Collaborative Agreements
Debt conversion, converted instrument, amount			$ 2,800
Stock Exercises at $7.06
Collaborative Agreements
Warrants exercise price (in dollars per share)				$ 7.06
Stock Exercises at $7.98
Collaborative Agreements
Warrants exercise price (in dollars per share)				$ 7.98
Proceeds from warrants exercised				$ 19,200
Private Placement
Collaborative Agreements
Warrants exercise price (in dollars per share)		$ 0.01	$ 0.01		$ 0.01
Number of shares issued, private placement (in shares)	11,296,660	11,296,660
Stock issued (in dollars per share)	$ 10.18	$ 10.18	$ 10.18		$ 10.18
Number of common shares called by warrants (in shares)	8,349,705	8,349,705	8,349,705		8,349,705
Proceeds from private placement					$ 199,800
Outstanding warrants, convertible to common stock | Stock Exercises at $7.06
Collaborative Agreements
Stock issued from equity financing (in shares)				1,260,000
Outstanding warrants, convertible to common stock | Stock Exercises at $7.98
Collaborative Agreements
Stock issued from equity financing (in shares)				1,294,999
Outstanding warrants, convertible to common stock | Private Placement
Collaborative Agreements
Stock issued (in dollars per share)	$ 10.17	$ 10.17	$ 10.17		$ 10.17

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