Stockholders' Equity - Equity Offerings (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended	12 Months Ended
	Mar. 29, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Apr. 28, 2022	Oct. 07, 2020	Sep. 28, 2017
Subsequent Event
Equity offerings
Common stock available for sale under agreement	$ 66.0
Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares		1,953,854	3,092,603	5,161,502
2017 Sales Agreement \| Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares				4,136,742
Price per share				$ 3.52
Aggregate net proceeds from stock sale				$ 14.1
2017 Sales Agreement \| Common Stock \| Maximum
Equity offerings
Common stock available for sale under agreement							$ 100.0
2020 Sales Agreement \| Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares		0	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						$ 100.0
2020 Sales Agreement \| Common Stock \| Maximum
Equity offerings
Common stock available for sale under agreement						$ 100.0
2022 Sales Agreement \| Common Stock
Equity offerings
Issuance of common stock, net of issuance costs, shares		1,953,854
Price per share		$ 2.22
Aggregate net proceeds from stock sale		$ 4.2
Common stock available for sale under agreement		$ 95.7
2022 Sales Agreement \| Common Stock \| Maximum
Equity offerings
Common stock available for sale under agreement					$ 100.0
2023 Sales Agreement \| Common Stock \| Subsequent Event
Equity offerings
Issuance of common stock, net of issuance costs, shares	9,822,930
Price per share	$ 3.01
Aggregate net proceeds from stock sale	$ 28.7