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Organization and Description of Business - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]      
Carrying value of convertible notes, net of discount $ 128,185   $ 127,811
Cash and cash equivalents 30,463   30,486
Accumulated deficit 844,284   $ 826,843
Net loss 17,441 $ 13,808  
Cash used in operating activities 12,098 $ 23,955  
7.25% Convertible Senior Notes due 2025      
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]      
Carrying value of convertible notes, net of discount $ 128,200