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Stockholders' Equity (Details) - USD ($) $ / shares in Units, shares in Millions | 1 Months Ended | 3 Months Ended | 12 Months Ended | 14 Months Ended | 29 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jan. 31, 2023 | Mar. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2021 | Dec. 31, 2023 | Aug. 31, 2021 | Jul. 31, 2020
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  |  | $ 119,236,000 | $ 71,625,000 | $ 101,146,000 |  |  |  |
2020 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Offering sales commission (percent) |  |  | 3.00% |  |  |  |  |  |
Common stock sold and issued (in shares) |  |  |  |  | 23.3 |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  |  |  |  | $ 100,000,000 |  |  |  |
Weighted-average share price (in dollars per share) |  |  |  |  |  | $ 4.30 |  |  |
2021 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Offering sales commission (percent) |  |  |  |  |  |  | 3.00% |  |
Common stock sold and issued (in shares) |  | 15.5 |  |  |  |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  | $ 51,900,000 |  |  |  |  |  |  |
Weighted-average share price (in dollars per share) |  | $ 3.35 |  |  |  |  | $ 1.57 |  |
Total of gross proceeds |  | $ 150,000,000 |  |  |  |  |  |  |
2023 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Offering sales commission (percent) | 3.00% |  |  |  |  |  |  |  |
Common stock sold and issued (in shares) |  |  | 16.8 |  |  |  |  |  |
Proceeds from issuance of common stock in at the market offering, net of issuance costs |  |  | $ 70,000,000 |  |  |  |  |  |
Weighted-average share price (in dollars per share) |  |  | $ 4.17 |  |  |  |  |  |
Common stock |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Maximum aggregate offering price | $ 250,000,000 |  |  |  |  |  |  |  | $ 250,000,000
Common stock | 2020 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  |  |  |  | $ 100,000,000
Common stock | 2021 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Maximum aggregate offering price |  |  |  |  |  |  |  | $ 150,000,000 |
Common stock | 2023 Open Market Sales Agreement |  |  |  |  |  |  |  |  |
Subsidiary, Sale of Stock [Line Items] |  |  |  |  |  |  |  |  |
Maximum aggregate offering price | $ 150,000,000 |  |  |  |  |  |  |  |

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