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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
 9 Months Ended
Nov. 09, 2021
Jan. 25, 2021
Sep. 30, 2022
Jun. 24, 2022
Jan. 01, 2022
May 13, 2016
2016 Incentive Plan            
Class of Stock [Line Items]            
Number of shares authorized (in shares)           22,000,000
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)     2,780,167      
Number of shares of unvested restricted stock units and options outstanding (in shares)     2,533,840      
Common stock, other shares, outstanding (in shares)     11,100,459      
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)     2,095,268      
Award vesting period (in years)     3 years      
Maximum contractual term (in years)     10 years      
2022 Inducement Plan            
Class of Stock [Line Items]            
Number of shares authorized (in shares)       2,000,000    
Number of shares available for grant (in shares)     1,703,750      
Number of shares of unvested restricted stock units and options outstanding (in shares)     110,000      
Common stock, other shares, outstanding (in shares)     186,250      
Underwritten Public Offering | Common stock            
Class of Stock [Line Items]            
Number of shares issued in transaction (in shares)   20,355,000        
Sale of stock, price per share (in dollars per share)   $ 8.50        
Proceeds from sale of stock   $ 162.1        
Common stock | Sales Agreement            
Class of Stock [Line Items]            
Maximum authorized amount $ 300.0          
Sale of stock, sales proceeds of any common stock, percentage 3.00%          
Aggregate number of shares issued (in shares)     30,843,688      
Stock sale agreement weighted average price (in dollars per share)     $ 2.51      
Aggregate proceeds     $ 76.3      
Remaining authorized amount     $ 174.1