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Equity Incentive Awards - Narrative (Details) - USD ($)
 12 Months Ended 96 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options outstanding (in shares) 21,688,672     21,688,672
Common stock available for future grants (in shares) 24,057,667     24,057,667
Stock-based compensation costs $ 13,500,000 $ 14,300,000 $ 11,500,000  
Future stock-based compensation cost for outstanding unvested awards $ 18,300,000     $ 18,300,000
Future stock-based compensation cost for outstanding unvested awards, weighted-average recognition period 1 year 2 months 12 days      
Issuance of treasury stock     0  
Treasury Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Issuance of treasury stock     $ 6,321,000  
Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock reserved for issuance, exercisable (in shares) 7,518,000     7,518,000
Options outstanding (in shares) 15,389,000 18,705,000   15,389,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period 51,000      
Weighted average estimated grant date fair value (in dollars per share) $ 1.54 $ 1.78 $ 2.30  
Weighted average remaining contractual term of stock options outstanding 7 years 6 months      
Weighted average remaining contractual term of stock options exercisable 6 years      
Aggregate value $ 0     $ 0
Restricted Stock Units (RSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units outstanding (in shares) 6,300,000 5,015,000   6,300,000
Fair value of shares vested $ 5,100,000 $ 2,900,000 $ 2,900,000  
Granted (in shares) 8,527,000      
Weighted average grant date fair value (in dollars per share) $ 2.14      
Restricted Stock Units (RSUs) | Officers and non-employee directors        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted (in shares) 257,670 64,256 74,416  
Weighted average grant date fair value (in dollars per share) $ 1.79 $ 2.36 $ 1.77  
Share-Based Payment Arrangement        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Aggregate intrinsic value of exercisable stock options $ 0     $ 0
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options outstanding (in shares) 15,388,915     15,388,915
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period       2,336,349
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Units (RSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units outstanding (in shares) 6,299,757     6,299,757
Common stock issued (in shares)       8,700,164
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Award (RSAs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock issued (in shares)       217,148
2017 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock options exercise price, percent of fair market value on date of grant 100.00%      
Vesting period 4 years      
Award term 10 years      
Common stock authorized (in shares) 55,000,000     55,000,000
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche One        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting percentage 33.33%      
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Two        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting percentage 33.33%      
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Three        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting percentage 33.33%      
2017 Non-Employee Directors' Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award term 10 years      
Common stock authorized (in shares) 2,000,000     2,000,000
2017 Non-Employee Directors' Equity Incentive Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Aggregate value $ 500,000     $ 500,000
2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Units (RSUs)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period 1 year