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Stockholders' Equity (Details) - USD ($) $ / shares in Units, shares in Thousands |  |  | 1 Months Ended | 2 Months Ended | 3 Months Ended | 5 Months Ended | 12 Months Ended | 14 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 09, 2019 | Nov. 22, 2019 | Sep. 10, 2021 | Jun. 18, 2021 | Dec. 31, 2019 | Dec. 31, 2021 | Feb. 19, 2021 | Dec. 31, 2021 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2021 | Aug. 31, 2021 | Jul. 31, 2020
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  |  |  |  |  | $ 101,146,000 | $ 21,047,000 | $ 0 |  |  |
Common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 250,000,000
2020 Open Market Sales Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) |  |  | 3,300 | 4,000 |  | 7,700 | 8,200 |  |  |  |  | 23,300 |  |
Weighted-average share price (in dollars per share) |  |  |  |  |  |  |  |  |  |  |  | $ 4.30 |  |
Offering sales commission (percent) |  |  |  |  |  |  |  |  | 3.00% |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  |  |  |  |  |  |  |  | $ 100,000,000 |  |
2020 Open Market Sales Agreement | Common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 100,000,000
2021 Open Market Sales Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) |  |  |  |  |  |  |  | 15,700 |  |  |  |  |  |
Weighted-average share price (in dollars per share) |  |  |  |  |  |  |  | $ 1.60 |  |  |  |  |  |
Offering sales commission (percent) |  |  |  |  |  |  |  | 3.00% |  |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  |  |  |  | $ 25,000,000 |  |  |  |  |  |
2021 Open Market Sales Agreement | Common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  |  |  |  |  |  |  |  | $ 150,000,000 |
Underwritten public offering, including underwriter option |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) | 23,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Gross proceeds from sale of stock |  |  |  |  | $ 143,800,000 |  |  |  |  |  |  |  |  |
Underwriting discounts, commissions, and offering expenses |  |  |  |  | 8,900,000 |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock |  |  |  |  | $ 134,900,000 |  |  |  |  |  |  |  |  |
Underwritten public offering |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) | 20,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Share price (in dollars per share) | $ 6.25 |  |  |  |  |  |  |  |  |  |  |  |  |
Underwriter option |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) | 3,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Underwriter option period | 30 days |  |  |  |  |  |  |  |  |  |  |  |  |
Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) |  | 2,900 |  |  |  |  |  |  |  |  |  |  |  |
Share price (in dollars per share) |  | $ 6.96 |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock |  | $ 20,000,000 |  |  |  |  |  |  |  |  |  |  |  |

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