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Convertible Debt - Narrative (Details)		3 Months Ended
	Mar. 01, 2019 USD ($) day $ / shares	Mar. 31, 2023 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2022 USD ($)	Jan. 01, 2022 USD ($)
Debt Instrument [Line Items]
Accumulated deficit		$ (1,528,497,101)		$ (1,487,847,784)
Additional paid-in capital		(1,728,030,842)		$ (1,710,656,191)
Non-cash interest expense		313,488	$ 313,488
Convertible senior notes
Debt Instrument [Line Items]
Original principal amount		78,500,000
Unamortized debt issuance cost		109,074
Accounting Standards Update 2020-06
Debt Instrument [Line Items]
Accumulated deficit					$ 1,800,000
Additional paid-in capital					3,300,000
Convertible senior notes					$ 1,500,000
Convertible Debt
Debt Instrument [Line Items]
Unamortized debt issuance cost		$ 2,200,000
Convertible Debt | Convertible senior notes
Debt Instrument [Line Items]
Original principal amount	$ 78,500,000
Stated interest rate	6.50%	6.50%
Proceeds from issuance of debt	$ 75,700,000
Debt instrument, convertible, conversion ratio	0.1858045
Debt instrument, convertible conversion price (in dollars per share) | $ / shares	$ 5.38
Debt instrument, convertible, threshold percentage of stock price trigger	130.00%
Debt instrument, convertible, threshold trading days | day	20
Debt instrument, convertible, threshold consecutive trading days | day	30
Debt instrument, redemption price percentage	100.00%
Debt instrument, unamortized discount	$ 16,300,000
Debt instrument, effective interest rate		13.10%
Unamortized debt issuance cost		$ 592,000
Non-cash interest expense		313,000	313,000
Interest expense, contractual interest		$ 267,000	$ 267,000

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