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Income Taxes - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Tax Credit Carryforward [Line Items]    
Effective tax rate 0.00% 0.00%
Taxes at U.S. statutory rate 21.00% 21.00%
Increase in valuation allowance $ 30,400,000 $ 22,400,000
Accrued interest or penalties $ 0 $ 0
Description of income tax examinations the Company is subject to examination by these taxing authorities for all years since inception.  
Massachusetts    
Tax Credit Carryforward [Line Items]    
Net operating loss carryforwards $ 85,300,000  
Net operating loss carryforwards, expiration year 2042  
U.S. Federal    
Tax Credit Carryforward [Line Items]    
Net operating loss carryforwards $ 84,800,000  
U.S. Federal | R&D    
Tax Credit Carryforward [Line Items]    
Tax credit carryforwards $ 11,700,000  
Tax credit carryforwards, expiration year 2042  
State | R&D    
Tax Credit Carryforward [Line Items]    
Tax credit carryforwards $ 6,700,000  
Tax credit carryforwards, expiration year 2037