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Stockholders' Equity - Narrative (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended | 6 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jan. 25, 2021 | Jun. 30, 2020 | May 12, 2020 | May 31, 2018 | Mar. 31, 2020 | Jun. 30, 2021 | Jun. 30, 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) |  |  |  |  |  | 4,998,253 |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  |  |  |  |  | 2,516,102 |  |  |  |
Common stock, other shares, outstanding (in shares) |  |  |  |  |  | 7,814,677 |  |  |  |
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) |  |  |  |  |  | 2,516,141 |  |  |  |
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 |  |

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