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Stockholders' Equity - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended 12 Months Ended
Jan. 25, 2021
Jun. 30, 2020
May 12, 2020
May 31, 2018
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Jan. 01, 2021
May 13, 2016
Class of Stock [Line Items]                  
Underwritten public offering, common stock (in shares) 20,355,000                
Sale of stock, price per share (in dollars per share) $ 8.50                
Commissions and other estimated offering expenses $ 162,100,000                
2016 Incentive Plan                  
Class of Stock [Line Items]                  
Number of shares authorized (in shares)                 20,000,000
Number of potential shares authorized for issuance under share based compensation plan (in shares)                 2,000,000
Increase in number of shares authorized (in shares)               2,000,000  
Number of shares available for grant (in shares)         5,251,776        
Number of shares of unvested restricted stock units and options outstanding (in shares)         2,610,130        
Common stock, other shares, outstanding (in shares)         7,994,029        
Award vesting period (in years)         3 years        
Maximum contractual term (in years)         10 years        
2007 Incentive Plan                  
Class of Stock [Line Items]                  
Common stock, other shares, outstanding (in shares)         2,832,443        
Award vesting period (in years)         3 years        
Maximum contractual term (in years)         10 years        
Series C Preferred Stock                  
Class of Stock [Line Items]                  
Conversion of stock, shares converted (in shares)   14              
Common stock                  
Class of Stock [Line Items]                  
Conversion of stock, shares issued (in shares)   5,147              
Common stock | Prior Sales Agreement                  
Class of Stock [Line Items]                  
Maximum authorized amount       $ 100,000,000.0   $ 250,000,000.0      
Remaining authorized amount           $ 0      
Aggregate number of shares issued (in shares)           43,148,952      
Stock sale agreement weighted average price per share           $ 4.92      
Aggregate proceeds           $ 208,200,000      
Common stock | New Sales Agreement                  
Class of Stock [Line Items]                  
Maximum authorized amount     $ 250,000,000.0            
Remaining authorized amount           $ 0      
Aggregate number of shares issued (in shares)             22,919,934    
Stock sale agreement weighted average price per share             $ 10.91    
Aggregate proceeds             $ 246,200,000