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Stockholders' Equity - Narrative (Details) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jan. 25, 2021
Jun. 30, 2020
May 12, 2020
May 31, 2018
Mar. 31, 2020
Sep. 30, 2021
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)           4,579,714      
Number of shares of unvested restricted stock units and options outstanding (in shares)           2,446,102      
Common stock, other shares, outstanding (in shares)           8,002,361      
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)           2,459,891      
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 $ 250,000,000        
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            
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