Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Line Items]
Valuation allowance increased amount	$ 39,272,000
Unrecognized tax benefits	1,028,000	$ 1,028,000	$ 1,270,000
Accrued interest or penalties related to uncertain tax positions	0	0
U.S. Federal and State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	$ 109,544,000	102,723,000
Operating loss carryforwards expiration year	2040
U.S. Federal and State | Research and Development
Income Tax Disclosure [Line Items]
Tax credit carryforwards	$ 5,674,000	$ 5,674,000
Tax credit carryforwards expiration year	2032