Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Line Items]
Provision for income taxes	$ 0	$ 0	$ 0
Deferred tax assets, net operating loss carryforwards	34,717,000	31,777,000
Research and development credit carryforwards	19,997,000	9,454,000
Penalties or interest accrued	0	0	0
Unrecognized tax benefits	3,822,000	1,962,000	$ 1,304,000
Orphan Drug Credits
Income Tax Disclosure [Line Items]
Tax credit carry forward amount		$ 6,300,000
Federal Income Tax
Income Tax Disclosure [Line Items]
Deferred tax assets, net operating loss carryforwards	135,300,000
Deferred tax assets, operating loss carryforwards subject to expire	$ 11,600,000
Tax credit carry forward expiration year	2037
Deferred tax assets, operating loss carryforwards subject to do not expire	$ 123,700,000
Research and development credit carryforwards	$ 12,000,000.0
Research and experimental expenditures amortize period (in years)	5 years
California State Income Tax
Income Tax Disclosure [Line Items]
Deferred tax assets, net operating loss carryforwards	$ 89,600,000
Deferred tax assets, operating loss carryforwards subject to expire	$ 89,600,000
Tax credit carry forward expiration year	2036
Research and development credit carryforwards	$ 6,400,000
Foreign Income Tax
Income Tax Disclosure [Line Items]
Research and experimental expenditures amortize period (in years)	15 years
California
Income Tax Disclosure [Line Items]
Tax years	2020 2021