We propose a novel heterodyne detection scheme for continuous-variable quantum key distribution (CVQKD), which measures both quadrature components of a quantum signal encoded in optical phase space. The proposed method uses time division to achieve identical performance to conventional heterodyne detection with only a single homodyne detection system. Our method also uses a Faraday-Michelson interferometer to make it independent of polarization drift and eliminate the need for dynamic polarization control. Our method is experimentally demonstrated using the Gaussian-modulated coherent-states (GMCS) protocol over a 20.06 km optical fiber channel, achieving an expected secret key rate of up to 0.187 Mbps.