Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%
Cumulative Change in Ownership, Percentage	50.00%
Cumulative Change in Ownership, Period	3 years
State Enterprise Zone Credits, Total	$ 1,123
State Enterprise Zone Credits, Expiration Year	2024
State Enterprise Zone Credits Unutilized, Total	$ 2,872
State Enterprise Zone Credits Unutilized, Expiration Year	2023
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount	$ 2,131	$ 6,009
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	368
Uncertain tax positions, interest or penalties	984	$ 985
Federal Research and Development [Member]
Operating Loss Carryforwards, Total	$ 163,439
Operating Loss Carry Forwards, Expiration Year	2027
Tax Credit Carryforward, Amount	$ 6,123
Tax Credit Carryforward, Expiration Year	2026
State and Local Jurisdiction [Member]
Operating Loss Carryforwards, Total	$ 144,131
Operating Loss Carry Forwards, Expiration Year	2025
Tax Credit Carryforward, Amount	$ 6,451