Income Taxes - Reconciliation of Income Tax Expense (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Tax benefit at federal statutory rate	$ (23,603,000)	$ (27,973,000)
State taxes	(4,425,000)	(5,017,000)
Research tax credits	(5,454,000)	(15,012,000)
Change in valuation allowance	22,310,000	42,664,000
Stock based compensation	4,950,000	5,181,000
Change in rate	6,165,000	0
Other	57,000	157,000
Expense/(Benefit) for income taxes	$ 0	$ 0