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Description of Business (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended
Oct. 31, 2023
Sep. 30, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]      
Accumulated deficit   $ 2,650,231 $ 2,532,490
Subsequent Event      
Debt Instrument [Line Items]      
Private placement net of offering cost $ 29,800    
Subsequent Event | Private Placement      
Debt Instrument [Line Items]      
Purchase price (in dollars per share) $ 12.16    
Subsequent Event | Common Stock      
Debt Instrument [Line Items]      
Stock issued during period, shares, new issues (in shares) 2,467,104    
Stock issued from equity financing (in shares) 2,467,104    
Secured Debt | Senior Loans | Subsequent Event      
Debt Instrument [Line Items]      
Maximum borrowing capacity $ 400,000    
Basis spread on variable rate 6.25%    
Maturity term 6 years    
Proceeds from secured lines of credit $ 387,400    
Secured Debt | Senior Loans | Subsequent Event | Secured Overnight Financing Rate Floor      
Debt Instrument [Line Items]      
Basis spread on variable rate 2.50%    
Secured Debt | Senior Loans | Subsequent Event | Secured Overnight Financing Rate Adjustment      
Debt Instrument [Line Items]      
Basis spread on variable rate 0.26161%