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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