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Stock Incentive Plans - Summary of Option, Unvested RSU Activity under 2014 Equity Incentive Plan and 2016 Inducement Equity Incentive Plan and Related Information (Details) - $ / shares
 3 Months Ended
Mar. 31, 2025
Mar. 31, 2024
Shares Available for Grant    
Shares available for grant beginning balance (in shares) 4,559,101  
Shares expired (in shares) (1,398,171)  
Common stock awards for services (in shares) (856)  
RSUs granted (in shares) (473,754)  
RSUs forfeited (in shares) 10,500  
Shares available for grant ending balance (in shares) 1,683,534  
Stock Options Outstanding    
Stock options outstanding beginning balance (in shares) 3,409,912  
Stock options exercised (in shares) (141,050)  
Stock options forfeited (in shares) (72,359)  
Stock options expired (in shares) (252,065)  
Stock options outstanding ending balance (in shares) 2,944,438  
Weighted- Average Exercise Price    
Weighted average exercise price beginning balance (in dollars per share) $ 22.63  
Weighted average exercise price - options exercised (in dollars per share) 21.61  
Weighted average exercise price - options forfeited (in dollars per share) 23.83  
Weighted average exercise price - options expired (in dollars per share) 41.48  
Weighted average exercise price ending balance (in dollars per share) $ 21.03  
RSU/PSU Outstanding    
RSUs granted (in shares) 473,754  
RSUs forfeited (in shares) (10,500)  
Restricted Stock Units    
Shares Available for Grant    
RSUs granted (in shares) (1,013,286)  
RSUs forfeited (in shares) 376,425  
RSU/PSU Outstanding    
Number of RSU shares beginning balance (in shares) 4,842,670  
RSUs granted (in shares) 1,013,286  
RSUs vested (in shares) (367,450)  
RSUs forfeited (in shares) (376,425)  
Number of RSU shares ending balance (in shares) 5,057,310  
Weighted- Average Grant Date Fair Value    
Weighted average grant date fair value beginning balance (in dollars per share) $ 15.38  
Weighted average grant date fair value - RSUs granted (in dollars per share) 19.62  
Weighted average grant date fair value - RSUs vested (in dollars per share) 16.24  
Weighted average grant date fair value - RSUs forfeited (in dollars per share) 13.28  
Weighted average grant date fair value ending balance (in dollars per share) $ 16.47  
PSUs    
Shares Available for Grant    
RSUs granted (in shares) (236,877)  
RSUs forfeited (in shares) 34,937  
RSU/PSU Outstanding    
RSUs granted (in shares) 236,877  
RSUs vested (in shares) (256,711)  
RSUs forfeited (in shares) (34,937)  
Number of RSU shares ending balance (in shares) 572,460 412,843
Weighted- Average Grant Date Fair Value    
Weighted average grant date fair value - RSUs granted (in dollars per share) $ 19.61  
Weighted average grant date fair value - RSUs vested (in dollars per share) 15.74  
Weighted average grant date fair value - RSUs forfeited (in dollars per share) $ 18.50