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Warrants to Acquire Shares of Common Stock - Warrants Outstanding (Details) shares in Thousands	6 Months Ended
	Jun. 30, 2021 shares
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	1,392
Granted (in shares)	0
Exercised (in shares)	(832)
Canceled/Expired (in shares)	(1)
Outstanding, end of period (in shares)	559
July 2020 PIPE Offering
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	445
Granted (in shares)	0
Exercised (in shares)	(420)
Canceled/Expired (in shares)	0
Outstanding, end of period (in shares)	25
January 2020 Offering
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	719
Granted (in shares)	0
Exercised (in shares)	(410)
Canceled/Expired (in shares)	0
Outstanding, end of period (in shares)	309
June 2019 Offering
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	2
Granted (in shares)	0
Exercised (in shares)	(1)
Canceled/Expired (in shares)	0
Outstanding, end of period (in shares)	1
March 2019 Exercise Agreement
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	63
Granted (in shares)	0
Exercised (in shares)	0
Canceled/Expired (in shares)	0
Outstanding, end of period (in shares)	63
July 2018 Offering
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	141
Granted (in shares)	0
Exercised (in shares)	(1)
Canceled/Expired (in shares)	0
Outstanding, end of period (in shares)	140
Other
Class of Warrant or Right, Outstanding [Roll Forward]
Outstanding, beginning of period (in shares)	22
Granted (in shares)	0
Exercised (in shares)	0
Canceled/Expired (in shares)	(1)
Outstanding, end of period (in shares)	21