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Indebtedness - Additional Information (Details)			6 Months Ended
Indebtedness - Additional Information (Details)	May 21, 2020 USD ($) tradingDay $ / shares	May 02, 2019 USD ($) tranche	Jun. 30, 2023 USD ($)	Dec. 31, 2022 USD ($) tranche
Term Loan \| Credit Facility
Debt Instrument [Line Items]
Maximum borrowing capacity		$ 150,000,000
Amount funded		30,000,000
Remaining borrowing capacity		$ 120,000,000
Number of additional tranches \| tranche		2
Clinical development milestone unmet, number of tranches \| tranche				1
Percentage of exit fee on amount borrowed on final repayment		1.75%
Percentage of exit fee on amount borrowed on partial prepayment		1.75%
Debt covenant minimum unrestricted cash percentage		25.00%
Debt instrument, default trigger amount			$ 2,500,000
Term Loan \| Credit Facility \| Prepayment Occurs through First Anniversary of Closing Date
Debt Instrument [Line Items]
Percentage of prepayment fee		3.00%
Term Loan \| Credit Facility \| First Anniversary of Closing Date through Second Anniversary of Closing Date
Debt Instrument [Line Items]
Percentage of prepayment fee		2.00%
Term Loan \| Credit Facility \| Second Anniversary of Closing Date and Prior to Jan 1, 2025
Debt Instrument [Line Items]
Percentage of prepayment fee		1.00%
Term Loan \| Credit Facility \| Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Basis spread on variable rate		7.00%
Interest rate		2.00%
Term Loan \| Credit Facility \| MidCap Financial Trust
Debt Instrument [Line Items]
Basis spread on variable rate			3.00%
Term Loan \| Tranche One \| Credit Facility
Debt Instrument [Line Items]
Remaining borrowing capacity		$ 60,000,000		$ 60,000,000
Term Loan \| Tranche Two \| Credit Facility
Debt Instrument [Line Items]
Remaining borrowing capacity		$ 60,000,000		$ 60,000,000
2027 Notes
Debt Instrument [Line Items]
Interest rate	5.00%
Debt instrument aggregate principal amount	$ 200,000,000
Proceeds from convertible debt	$ 193,600,000
Debt instrument conversion ratio	0.0616
Convertible notes, initial conversion price (in dollars per share) \| $ / shares	$ 16.23
Convertible notes, percentage of conversion price	130.00%
Debt conversion, converted instrument	$ 1,000
Convertible notes, redemption percentage	100.00%
Percentage of repurchase price is equal to principal amount of convertible notes	100.00%
Percentage in aggregate principal amount (not less than)	0.25
Carrying amount of the equity component	$ 53,500,000
Convertible notes, effective interest rate	11.17%
Debt issuance costs	$ 400,000
2027 Notes \| Maximum
Debt Instrument [Line Items]
Convertible notes, percentage of last reported sale price of common stock	98.00%
2027 Notes \| 130% Applicable Conversion Price \| Minimum
Debt Instrument [Line Items]
Convertible notes, consecutive trading days \| tradingDay	20
2027 Notes \| 130% Applicable Conversion Price \| Maximum
Debt Instrument [Line Items]
Convertible notes, consecutive trading days \| tradingDay	30
2027 Notes \| 98% Applicable Conversion Price \| Minimum
Debt Instrument [Line Items]
Convertible notes, consecutive trading days \| tradingDay	5
2027 Notes \| 98% Applicable Conversion Price \| Maximum
Debt Instrument [Line Items]
Convertible notes, consecutive trading days \| tradingDay	10