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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