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Stockholders' Equity - Equity Offerings (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended			9 Months Ended
	Mar. 31, 2021	Sep. 30, 2020	Jun. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Oct. 01, 2021	Oct. 07, 2020	Sep. 28, 2017
Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares	2,517,603	1,010,033	3,126,709
September 2017 At-The-Market | Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares					4,136,742
Price per share		$ 3.52			$ 3.52
Aggregate net proceeds from stock sale					$ 14,100
September 2017 At-The-Market | Common Stock | Maximum
Equity offerings
Common stock available for sale under agreement								$ 100,000
October 2020 At-The-Market
Equity offerings
Issuance of common stock, net of issuance costs, shares				2,517,603
Price per share				$ 3.92
Aggregate net proceeds from stock sale				$ 9,600
Common stock available for sale under agreement				$ 86,300
Securities sold during period					0
October 2020 At-The-Market | Subsequent Event
Equity offerings
Additional amount of common stock						$ 0
October 2020 At-The-Market | Common Stock | Maximum
Equity offerings
Common stock available for sale under agreement							$ 100,000

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