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Stockholders' Deficit - Common Stock and Warrants - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Feb. 08, 2021 | Mar. 31, 2021 | Feb. 28, 2021 | Nov. 30, 2020 | Oct. 31, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Shares issued for exercise of options (in shares) |  |  |  |  |  | 111,000 | 1,182,000 | 344,000
Number of shares under warrants granted |  |  |  |  |  |  | 4,752,116 |
Outside Consultant [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares under warrants granted |  |  |  |  |  |  |  | 75,000
Warrant [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Weighted average grant date fair value |  |  |  |  |  |  | $ 1.56 | $ 3.00
Expected term |  |  |  |  |  |  | 10 years | 5 years
Volatility rate |  |  |  |  |  |  | 68.80% | 60.80%
Dividend yields |  |  |  |  |  |  | 0.00% | 0.00%
Risk-free interest rate |  |  |  |  |  |  | 0.30% | 2.50%
Common Stock [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Proceeds from stock plans |  |  | $ 96.6 | $ 31.7 | $ 77.0 |  |  |
Shares issued for sale of common stock, net of cost (in shares) |  |  | 59,459,460 | 26,953,125 | 29,900,000 | 121,765,000 | 26,953,000 | 29,900,000
Shares Issued, Price Per Share |  |  | $ 1.85 | $ 1.28 | $ 2.75 |  |  |
Shares issued for exercise of options (in shares) |  |  |  | 3,515,625 | 3,900,000 | 111,000 | 1,182,000 | 344,000
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% |  |  |  |  |  |
Sale of stock, number of shares issued in transaction |  |  |  |  |  | 33,705,315 |  |
Sale of stock, price Per share |  |  |  |  |  | $ 1.21 |  |
Proceeds from stock plans |  |  |  |  |  | $ 39.4 |  |
2020 ATM Program [Member] | Common Stock [Member] |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |
Public offering of common stock authorized for sale |  |  |  | $ 50.0 |  |  |  |
Percentage of commission rate gross sales price |  |  |  | 3.00% |  |  |  |
Sale of stock, number of shares issued in transaction | 28,600,689 |  |  |  |  |  |  |
Sale of stock, price Per share | $ 1.75 |  |  |  |  |  |  |
Proceeds from stock plans | $ 48.1 |  |  |  |  |  |  |

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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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