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Equity - Summarized Issuance Activity (Details) - USD ($)
$ in Thousands
 12 Months Ended
May 17, 2021
Mar. 12, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Private Placement | Second Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)   16,000      
Private Placement | Keystone Capital Partners, LLC          
Class of Stock [Line Items]          
Shares issued (in shares) 4,000        
Common Stock | Private Placement | Keystone Capital Partners, LLC | Keystone Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       3,066,000  
Sale of stock, consideration received on transaction       $ 147,961  
Common Stock | Private Placement | YA II PN, Ltd. | Second YA SEDA Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       3,790,000  
Sale of stock, consideration received on transaction       $ 165,391  
Common Stock | Private Placement | YA II PN, Ltd. | First YA SEDA          
Class of Stock [Line Items]          
Shares issued (in shares)       1,372,000  
Sale of stock, consideration received on transaction       $ 40,556  
Common Stock | Private Placement | Seven Knots, LLC | Seven Knots Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       4,009,000  
Sale of stock, consideration received on transaction       $ 81,279  
Common Stock | Private Placement | B. Riley Principal Capital, LLC | B. Riley Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       4,623,000  
Sale of stock, consideration received on transaction       $ 67,989  
Common Stock | Private Placement | M3A LP | M3A Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)     0 900,000  
Sale of stock, consideration received on transaction     $ 0 $ 12,941  
Common Stock | Private Placement | Lincoln Park Capital Fund, LLC | First Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       205,000 855,000
Sale of stock, consideration received on transaction       $ 4,590 $ 20,556
Common Stock | Private Placement | Lincoln Park Capital Fund, LLC | Second Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       2,066,000  
Sale of stock, consideration received on transaction       $ 43,586  
Common Stock | Private Placement, Shares Sold | Keystone Capital Partners, LLC | Keystone Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       3,062,000  
Common Stock | Private Placement, Shares Sold | Lincoln Park Capital Fund, LLC | First Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       205,000 836,000
Common Stock | Private Placement, Shares Sold | Lincoln Park Capital Fund, LLC | Second Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       2,050,000  
Common Stock | Private Placement, Additional Commitment Shares | Keystone Capital Partners, LLC | Keystone Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       4,000  
Common Stock | Private Placement, Additional Commitment Shares | Lincoln Park Capital Fund, LLC | First Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       0 19,000
Common Stock | Private Placement, Additional Commitment Shares | Lincoln Park Capital Fund, LLC | Second Lincoln Park Purchase Agreement          
Class of Stock [Line Items]          
Shares issued (in shares)       16,000