Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Line Items]
Valuation allowance, increase amount	$ 26,000,000	$ 22,800,000
Research and development tax credits	7,156,000	2,918,000
Unrecognized tax benefits, accrued interest and penalties	0	0
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	382,300,000
Operating loss carryforwards	$ 329,800,000
Net operating loss carryforwards expiration period	20 years
Percentage of net operating loss carryforwards utilization limit of taxable income subsequent to enactment of 2017 tax act	80.00%
IRS Section 174, R&E expenses amortization period	5 years
Research and development tax credits	$ 10,300,000	3,100,000
State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	592,500,000
Research and development tax credits	5,700,000	4,000,000
Foreign
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 0	$ 0
IRS Section 174, R&E expenses amortization period	15 years