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Stockholders' Equity - Equity Offerings (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2021	Apr. 01, 2022	Mar. 31, 2022
Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares	2,517,603
2020 Sales Agreement
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			$ 85,100
Securities sold during period	0
2020 Sales Agreement | Subsequent Event
Equity offerings
Additional amount of common stock		$ 0
2022 Sales Agreement
Equity offerings
Common stock available for sale under agreement			$ 100,000

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