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Convertible Debt - Narrative (Details) - USD ($)
 12 Months Ended
Mar. 01, 2024
Mar. 01, 2019
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2022
Feb. 19, 2019
Debt Instrument [Line Items]              
Accumulated deficit     $ (1,622,965,136) $ (1,487,847,784)      
Additional paid-in capital     (1,740,954,074) (1,710,888,191)      
Interest expense     1,222,789 1,253,952 $ 1,936,447    
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  
6.50% Convertible Senior Notes Due 2024              
Debt Instrument [Line Items]              
Debt instrument, face amount     78,500,000        
Debt issuance costs, net     0        
Convertible Debt              
Debt Instrument [Line Items]              
Debt issuance costs, net     $ 2,200,000        
Convertible Debt | 6.50% Convertible Senior Notes Due 2024              
Debt Instrument [Line Items]              
Debt instrument, face amount   $ 78,500,000         $ 78,500,000
Debt interest based on the fixed rate   6.50%         6.50%
Proceeds from issuance of debt   $ 75,700,000          
Debt instrument, unamortized discount   $ 16,300,000          
Debt instrument, interest rate, effective percentage     13.10%        
Debt issuance costs, net     $ 592,000        
Interest expense     1,200,000 $ 1,300,000 $ 1,900,000    
Interest expense, debt     $ 1,100,000        
Convertible Debt | 6.50% Convertible Senior Notes Due 2024 | Subsequent Event              
Debt Instrument [Line Items]              
Repayments of convertible debt $ 16,900,000