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Stockholders' Equity (Details) - USD ($) $ / shares in Units, shares in Millions | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 31, 2023 | Jun. 30, 2023 | Jun. 30, 2023 | Jun. 30, 2022 | Mar. 31, 2023 | Aug. 31, 2021
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  |  | $ 62,085,000 | $ 18,478,000 |  |
Common stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Maximum aggregate offering price | $ 250,000,000 |  |  |  |  |
2021 Open Market Sales Agreement |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Commission on sale of stock per agreement (percent) |  |  | 3.00% |  |  |
Total of shares sold (in shares) |  |  |  |  | 95.2 |
Total of gross proceeds |  |  |  |  | $ 150,000,000 |
2021 Open Market Sales Agreement | Common stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  | $ 150,000,000
2023 Open Market Sales Agreement |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Commission on sale of stock per agreement (percent) | 3.00% |  |  |  |  |
Issuance of common stock in at the market offering (in shares) |  | 3.0 |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  | $ 11,600,000 |  |  |  |
Weighted-average sales price per share (in dollars per share) |  | $ 3.83 |  |  |  |
2023 Open Market Sales Agreement | Common stock |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |
Maximum aggregate offering price | $ 150,000,000 |  |  |  |  |

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