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Secured Notes to Related Party - Additional Information (Details) - USD ($) |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jul. 29, 2011 | May 31, 2021 | Apr. 30, 2011 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Debt Instrument [Line Items] |  |  |  |  |  |
Net proceeds from convertible notes financing |  |  |  | $ 148,963,000 |  |
Amortization of debt issuance costs |  |  |  | 119,000 |  |
Amortization of debt discount |  |  |  | $ 785,000 | $ 1,429,000 | $ 1,050,000
Common Stock |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Initial conversion price/rate |  | $ 15.276 |  |  |  |
Issuance of common stock on conversion of notes (in shares) |  | 9,800,000 |  | 9,849,000 |  | 32,000
Notes |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Convertible debt issuable in connection with private placement |  | $ 150,000,000.0 |  |  |  |
Net proceeds from convertible notes financing |  | $ 149,000,000.0 |  |  |  |
Debt instrument, interest rate |  | 1.50% |  |  |  |
Debt instrument, maturity date |  | May 26, 2026 |  |  |  |
Debt instrument, frequency of periodic payment |  | semi-annually |  |  |  |
Debt instrument, date of first required payment |  | Dec. 15, 2021 |  |  |  |
Initial conversion price/rate |  | $ 65.4620 |  |  |  |
Debt instrument conversion ratio multiple of principal |  | $ 1,000 |  |  |  |
Common shares registered for resale in connection with convertible notes |  | 12,400,000 |  |  |  |
Debt issuance costs incurred |  |  |  | $ 1,000,000.0 |  |
Effective interest rate |  |  |  | 1.60% |  |
Interest expense |  |  |  | $ 1,400,000 |  |
Interest expense, debt, excluding amortization |  |  |  | 1,300,000 |  |
Amortization of debt issuance costs |  |  |  | 100,000 |  |
Carrying value of debt |  |  |  | 149,100,000 |  |
Debt instrument, face amount |  |  |  | 150,000,000.0 |  |
Debt issuance costs |  |  |  | 900,000 |  |
Notes | Redemption Between May 24, 2024 and May 24, 2025 |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, redemption period, stock price exceeds in percentage of conversion price |  | 250.00% |  |  |  |
Notes | Redemption On or After May 24, 2025 |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, redemption period, stock price exceeds in percentage of conversion price |  | 200.00% |  |  |  |
Convertible Notes |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Convertible debt issuable in connection with private placement |  |  | $ 4,500,000 |  |  |
Net proceeds from convertible notes financing |  |  | $ 4,300,000 |  |  |
Debt instrument, interest rate |  |  | 6.00% |  |  |
Debt instrument, maturity date |  |  | May 02, 2021 |  |  |
Debt instrument conversion ratio multiple of principal |  |  | $ 1,000 |  |  |
Common shares registered for resale in connection with convertible notes | 3,500,000 |  |  |  |  |
Interest expense, debt, excluding amortization |  |  |  | 200,000 | 400,000 | $ 400,000
Carrying value of debt |  | $ 0 |  |  |  |
Debt instrument, term |  |  | 10 years |  |  |
Paid-in-kind interest |  |  |  | 200,000 |  |
Debt instrument, additional debt discount |  |  |  | 200,000 |  |
Amortization of debt discount |  |  |  | $ 800,000 | $ 1,400,000 | $ 1,100,000
Convertible Notes | Common Stock |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |
Debt instrument, number of shares issued for convertible notes |  |  | 1,250 |  |  |

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- Definition Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 1A -URI http://asc.fasb.org/extlink&oid=124435984&loc=d3e28541-108399 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 1F -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=123466505&loc=SL123495355-112611 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3602-108585 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.8) -URI http://asc.fasb.org/extlink&oid=123367319&loc=SL114868664-224227 + Details
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