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Stockholders' Equity (Details) - Common Stock - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Apr. 28, 2022	Oct. 07, 2020
Equity offerings
Issuance of common stock, net of issuance costs, shares	9,822,930	1,953,854	3,092,603
2020 Sales Agreement
Equity offerings
Issuance of common stock, net of issuance costs, shares		0	3,092,603
Price per share			$ 3.57
Aggregate net proceeds from stock sale			$ 10.7
2020 Sales Agreement | Maximum
Equity offerings
Common stock available for sale under agreement					$ 100.0
2022 Sales Agreement
Equity offerings
Issuance of common stock, net of issuance costs, shares	9,822,930	1,953,854
Price per share	$ 3.01	$ 2.22
Aggregate net proceeds from stock sale	$ 28.7	$ 4.2
Common stock available for sale under agreement	$ 66.0
2022 Sales Agreement | Maximum
Equity offerings
Common stock available for sale under agreement				$ 100.0

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