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Stockholders' Equity - Equity Offerings (Details) - Common Stock - USD ($) $ / shares in Units, $ in Millions |  | 12 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Oct. 07, 2020 | Sep. 28, 2017
Equity offerings |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  | 3,092,603 | 5,161,502 |  |  |
2017 Sales Agreement |  |  |  |  |  |
Equity offerings |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  |  | 4,136,742 | 0 |  |
Price per share |  |  | $ 3.52 |  |  |
Aggregate net proceeds from stock sale |  |  | $ 14.1 |  |  |
2017 Sales Agreement | Maximum |  |  |  |  |  |
Equity offerings |  |  |  |  |  |
Common stock available for sale under agreement |  |  |  |  |  | $ 100.0
2020 Sales Agreement |  |  |  |  |  |
Equity offerings |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares |  | 3,092,603 | 1,024,760 |  |  |
Price per share |  | $ 3.57 | $ 3.74 |  |  |
Aggregate net proceeds from stock sale |  | $ 10.7 | $ 3.7 |  |  |
Common stock available for sale under agreement |  | $ 85.1 |  |  | $ 100.0 |
2020 Sales Agreement | Subsequent Event |  |  |  |  |  |
Equity offerings |  |  |  |  |  |
Issuance of common stock, net of issuance costs, shares | 0 |  |  |  |  |
2020 Sales Agreement | Maximum |  |  |  |  |  |
Equity offerings |  |  |  |  |  |
Common stock available for sale under agreement |  |  |  |  | $ 100.0 |

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