Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Income tax provision at the federal statutory tax rate	21.00%	21.00%
State taxes, net of federal benefit	4.10%	3.50%
Research and development credits	3.70%	1.90%
Stock-based compensation	(0.30%)	(2.40%)
Other non-deductible permanent items	(0.50%)	(0.20%)
Expired tax attributes	(2.20%)	(1.50%)
Other	0.50%	0.00%
Change in valuation allowance	(26.30%)	(22.30%)
Income tax expense	0.00%	0.00%
Income tax provision at the federal statutory tax rate	$ (10,203)	$ (14,017)
State taxes, net of federal benefit	(1,992)	(2,358)
Research and development credits	(1,805)	(1,269)
Stock-based compensation	150	1,625
Other non-deductible permanent items	246	105
Expired tax attributes	1,070	988
Other	(239)	27
Change in valuation allowance	12,793	14,908
Income tax expense	$ 20	$ 9