Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Uncertain tax benefits	$ 4,447,000	$ 1,754,000	$ 924,000	$ 393,000
Interest or penalties recognized for the period	0	$ 0
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	351,900,000
Research credit carryforwards	$ 12,800,000
Tax credit carry forwards expiration year	2039
Research and experimental expenses amortized period	5 years
Federal | Research | Maximum
Income Tax Disclosure [Line Items]
Research credit carryforward	$ 0
State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 693,600,000
Operating loss carry forwards expiration year	2034
Foreign
Income Tax Disclosure [Line Items]
Research and experimental expenses amortized period	15 years
California
Income Tax Disclosure [Line Items]
Research credit carryforwards	$ 4,600,000