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Convertible Debt - Narrative (Details)
 3 Months Ended 9 Months Ended
Mar. 01, 2019
USD ($)
day
$ / shares
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2022
USD ($)
Dec. 31, 2022
USD ($)
Jan. 01, 2022
USD ($)
Feb. 19, 2019
USD ($)
Debt Instrument [Line Items]                
Accumulated deficit   $ (1,597,961,498)   $ (1,597,961,498)   $ (1,487,847,784)    
Additional paid-in capital   (1,736,602,555)   (1,736,602,555)   $ (1,710,656,191)    
Non-cash interest expense   313,488 $ 313,488 940,464 $ 940,464      
Convertible senior notes                
Debt Instrument [Line Items]                
Original principal amount   78,500,000   78,500,000        
Unamortized debt issuance cost   15,586   15,586        
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   $ 2,200,000        
Convertible Debt | Convertible senior notes                
Debt Instrument [Line Items]                
Original principal amount $ 78,500,000             $ 78,500,000
Stated interest rate 6.50% 6.50%   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%   13.10%        
Unamortized debt issuance cost   $ 592,000   $ 592,000        
Non-cash interest expense   313,000 940,000 313,000 940,000      
Interest expense, contractual interest   $ 267,000 $ 800,000 $ 267,000 $ 800,000