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Stockholders' Equity - Narrative (Details) - USD ($) |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Nov. 09, 2021 | Jan. 25, 2021 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Jun. 24, 2022 | Jan. 01, 2022 | May 13, 2016
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion, conversion price (in dollars per share) |  |  |  | $ 27.20 |  |  |  |
Allocated share-based compensation expense |  |  | $ 22,200,000 | $ 25,000,000 | $ 14,500,000 |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized |  |  | $ 10,500,000 | $ 16,500,000 |  |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized, period for recognition |  |  | 1 year 7 months 6 days | 2 years |  |  |  |
Number of options outstanding to purchase common stock (in shares) |  |  | 12,221,548 | 10,488,993 |  |  |  |
Aggregate intrinsic value of options outstanding |  |  | $ 0 |  |  |  |  |
Aggregate intrinsic value for options exercisable |  |  | $ 0 |  |  |  |  |
Options exercisable, remaining contractual term |  |  | 5 years 8 months 12 days |  |  |  |  |
Number of options expected to vest (in shares) |  |  | 12,221,548 |  |  |  |  |
Options, expirations in period, weighted average exercise price (in dollars per share) |  |  | $ 8.47 | $ 4.56 | $ 4.44 |  |  |
Options, expirations in period (in shares) |  |  | 77,250 | 7,000 | 78,750 |  |  |
Options, grants in period, weighted average grant date fair value (in dollars per share) |  |  | $ 2.34 | $ 7.61 | $ 6.87 |  |  |
Proceeds from stock options exercised |  |  | $ 283,000 | $ 6,700,000 | $ 12,300,000 |  |  |
Options, exercises in period, aggregate intrinsic value |  |  | 81,000 | 7,000,000 | 14,200,000 |  |  |
Nonemployee |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Allocated share-based compensation expense |  |  | $ 1,300,000 | $ 1,400,000 | $ 1,200,000 |  |  |
Number of options outstanding to purchase common stock (in shares) |  |  | 665,875 |  |  |  |  |
Former President and Chief Executive Officer |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Allocated share-based compensation expense |  |  | $ 4,200,000 |  |  |  |  |
Award exercisable |  |  | 5 years |  |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  |  | 2,556,257 | 2,448,868 |  |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized |  |  | $ 7,200,000 | $ 13,400,000 |  |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized, period for recognition |  |  | 1 year 8 months 12 days | 1 year 9 months 18 days |  |  |  |
Aggregate intrinsic value of unvested |  |  | $ 4,000,000 |  |  |  |  |
Aggregate intrinsic value of vested |  |  | $ 4,600,000 |  |  |  |  |
RSU's expected to vest (in shares) |  |  | 2,556,257 |  |  |  |  |
Weighted average grant date fair value (in dollars per share) |  |  | $ 3.12 | $ 10.37 | $ 9.12 |  |  |
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding (in shares) |  |  | 111,941 |  |  |  |  |
Restricted Stock Units (RSUs) | Former President and Chief Executive Officer |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Awards settled in cash, percentage |  |  | 50.00% |  |  |  |  |
Research and Development Expense |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Allocated share-based compensation expense |  |  | $ 8,800,000 | $ 13,400,000 | $ 8,000,000.0 |  |  |
General and Administrative Expense |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Allocated share-based compensation expense |  |  | $ 13,400,000 | $ 11,600,000 | $ 6,500,000 |  |  |
2016 Incentive Plan |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Reserved number of shares under the Incentive Plan (in shares) |  |  |  |  |  |  |  | 22,000,000
Number of potential shares authorized for issuance under a 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 grants under the Incentive Plan (in shares) |  |  | 3,831,240 |  |  |  |  |
Number of shares of vested restricted stock outstanding under the plan (in shares) |  |  | 2,446,257 |  |  |  |  |
Number of common stock shares outstanding under the Incentive Plan (in shares) |  |  | 10,132,969 |  |  |  |  |
Vesting period of incentive plan |  |  | 3 years |  |  |  |  |
Contractual year term of incentive plan |  |  | 10 years |  |  |  |  |
Award vesting period (in years) |  |  | 3 years |  |  |  |  |
2016 Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  |  | 111,941 |  |  |  |  |
2007 Incentive Plan |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Number of common stock shares outstanding under the Incentive Plan (in shares) |  |  | 1,902,329 |  |  |  |  |
Vesting period of incentive plan |  |  | 3 years |  |  |  |  |
Contractual year term of incentive plan |  |  | 10 years |  |  |  |  |
Award vesting period (in years) |  |  | 3 years |  |  |  |  |
2022 Inducement Plan |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Reserved number of shares under the Incentive Plan (in shares) |  |  |  |  |  | 2,000,000 |  |
Number of shares available for grants under the Incentive Plan (in shares) |  |  | 1,703,750 |  |  |  |  |
Number of common stock shares outstanding under the Incentive Plan (in shares) |  |  | 186,250 |  |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  |  | 110,000 |  |  |  |  |
Common stock | Underwritten Public Offering |  |  |  |  |  |  |  |
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 |  |  |  |  |  |
Commissions and other estimated offering expenses |  | $ 162,100,000 |  |  |  |  |  |
Series C Preferred Stock |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion (in shares) |  |  |  | 3,309 |  |  |  |
Common stock | Sales Agreement |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Common stock aggregate offering price | $ 300,000,000 |  |  |  |  |  |  |
Sales Agents will be entitled to compensation | 3.00% |  |  |  |  |  |  |
Stock sale agreement, aggregate number of shares issued (in shares) |  |  | 34,445,743 | 6,955,341 |  |  |  |
Sales made at a weighted average price (in dollars per share) |  |  | $ 2.44 | $ 6.96 |  |  |  |
Stock sale agreement, aggregate proceeds from issuance of stock |  |  | $ 83,000,000 | $ 47,700,000 |  |  |  |
Remaining authorized amount |  |  | $ 167,400,000 |  |  |  |  |

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