Stockholders' Equity - Additional Information (Details) - USD ($) shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Aug. 31, 2022
Class Of Stock [Line Items]
Net proceeds from issuance of common stock	$ 4,626,000	$ 4,312,000	$ 5,346,000
At The Market Offering
Class Of Stock [Line Items]
Net proceeds from issuance of common stock	$ 27,020,000	$ 601,000
Cowen | At The Market Offering
Class Of Stock [Line Items]
Aggregate common stock sold	4.7
Common stock maximum aggregate offering price				$ 150,000,000
Net proceeds from issuance of common stock	$ 27,600,000