Summary of Significant Policies - Additional Information (Details) $ in Thousands		12 Months Ended
	Jan. 31, 2025 USD ($)	Dec. 31, 2024 USD ($) reporting_unit	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2019 USD ($)
Property, Plant and Equipment [Line Items]
Other assets		$ 776	$ 782	$ 1,025
Number of reporting units | reporting_unit		1
Change in unrealized losses on marketable securities		$ (3)	$ 0	$ 0	$ (119)
Hercules First Amended Loan Agreement
Property, Plant and Equipment [Line Items]
Debt instrument, debt covenant, minimum cash required		$ 20,000
Hercules First Amended Loan Agreement | Subsequent Event
Property, Plant and Equipment [Line Items]
Debt instrument, debt covenant, minimum cash required	$ 15,000
Minimum cash balance required, as percentage of outstanding borrowings (percent)	20.00%