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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Millions
 1 Months Ended 3 Months Ended 6 Months Ended 9 Months Ended
Apr. 30, 2021
Nov. 30, 2020
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Mar. 31, 2022
Jun. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Class of Stock [Line Items]                    
Common stock, par value (in dollars per share)     $ 0.01         $ 0.01   $ 0.01
Options outstanding (in shares)     12,680,295         12,680,295   10,098,929
Cash received for options exercised               $ 0.1 $ 0.3  
Common Stock                    
Class of Stock [Line Items]                    
Number of shares issued or sold (in shares)     36,135 36,135 95,000          
At the Market Offering                    
Class of Stock [Line Items]                    
Maximum amount available for issuance   $ 100.0                
Number of shares sold (in shares)             3,622,186 95,000    
Sales of stock purchase price (in dollars per share)     $ 6.6         $ 6.6    
Proceeds of stock sale           $ 98.2   $ 0.6    
Maximum amount available for issuance, increase $ 300.0