Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Effective tax rate	0.00%	0.00%
Valuation allowance	$ 104,007,000	$ 91,113,000
Federal net operating loss carryforwards	361,200,000	321,600,000
State net operating loss carryforwards	205,100,000	186,400,000
Deferred tax assets operating loss carryforwards will not expired	244,000,000
Federal research and development tax credit carry-forwards	4,100,000	3,700,000
State research and development tax credit carry-forwards	4,600,000	4,400,000
Unrecognized tax benefits	2,156,000	$ 2,020,000	$ 1,791,000
Interest or penalties associated with unrecognized tax benefits	$ 0
Federal
Income Tax Contingency [Line Items]
Tax credit carryforward begin to expiration period	2032
State
Income Tax Contingency [Line Items]
Operating loss carryforwards begin to expiration period	2026
Internal Revenue Code | R&D credit carryforwards
Income Tax Contingency [Line Items]
Ownership change percentage	50.00%