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Stockholders' Equity (Deficit) - Common Stock and Warrants - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  | 1 Months Ended | 3 Months Ended | 9 Months Ended
--- | --- | --- | --- | ---
Feb. 08, 2021 | Mar. 31, 2021 | Feb. 28, 2021 | Nov. 30, 2020 | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2021
Common Stock [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Proceeds from stock plans |  |  | $ 96.6 |  |  |  |  |
Shares issued for sale of common stock, net of cost, shares |  |  | 59,459,460 |  | 28,770,000 | 125,000 | 92,870,000 |
Shares issued, price per share |  |  | $ 1.85 |  |  |  |  |
Warrant [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Aggregate intrinsic value of options exercised |  |  |  |  |  |  |  | $ 1.1
2020 ATM Program [Member] | Common Stock [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Public offering of common stock authorized for sale |  |  |  | $ 50.0 |  |  |  |
Sale of stock, number of shares issued in transaction | 28,600,689 |  |  |  |  |  |  |
Proceeds from stock plans | $ 48.1 |  |  |  |  |  |  |
2021 ATM Program [Member] | Common Stock [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Public offering of common stock authorized for sale |  | $ 100.0 |  |  |  |  |  |
Percentage of commission rate gross sales price |  | 3.00% |  | 3.00% |  |  | 3.00% |
Sale of stock, number of shares issued in transaction |  |  |  |  |  |  |  | 33,705,315
Sale of stock, price Per share | $ 1.75 |  |  |  | $ 1.21 |  |  | $ 1.21
Proceeds from stock plans |  |  |  |  |  |  |  | $ 38.8

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