Property and Equipment, Net - Balances (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 11,210	$ 10,880
Less: accumulated depreciation	(10,201)	(9,657)
Total property and equipment, net	1,009	1,223
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	46	46
Office equipment and furniture
Property, Plant and Equipment [Line Items]
Property and equipment, gross	2,433	2,089
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 8,731	$ 8,745