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Organization and Significant Accounting Policies - Anti-Dilutive Securities of Common Stock Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares shares in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) | 44,261 | 49,578 | 37,077
Series A Convertible Preferred Stock |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) |  | 29 | 29
Options to purchase common stock and employee stock purchase plan |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) | 2,991 | 3,416 | 3,951
Unvested restricted stock units |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) | 8,533 | 8,703 | 8,216
Warrants to purchase common stock |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) | 15,491 | 20,184 | 24,881
Senior Convertible Notes |  |  |
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] |  |  |
Anti-dilutive securities not included in diluted net loss per share (in shares) | 17,246 | 17,246 |

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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 260 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=124432515&loc=d3e3550-109257 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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