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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