Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2019	Dec. 31, 2021
Income Taxes [Line Items]
Provision or benefit for income taxes	$ 0	$ 0
Increase in valuation allowance of net deferred tax assets	30,600,000	27,000,000
Gross unrecognized tax benefits	3,738,000	2,339,000		$ 1,359,000
Unrecognized tax benefits, penalties and interest expense	0	$ 0
Net Operating Loss and Tax Credit Carryforwards to Offset | Minimum
Income Taxes [Line Items]
Changes in ownership by stockholders holding percentage			5.00%
Federal
Income Taxes [Line Items]
Net operating loss carryforwards	185,500,000
Federal | Research and Development Credit Carry Forwards
Income Taxes [Line Items]
Tax credit carryforwards	$ 17,400,000
Tax credit carryforwards, expire	2035
Federal | 2035
Income Taxes [Line Items]
Net operating loss carryforwards	$ 200,000
Net operating loss carryforwards, expire	2035
Federal | 2036
Income Taxes [Line Items]
Net operating loss carryforwards	$ 1,700,000
Net operating loss carryforwards, expire	2036
Federal | 2037
Income Taxes [Line Items]
Net operating loss carryforwards	$ 1,300,000
Net operating loss carryforwards, expire	2037
Federal | Carry Forward Indefinitely
Income Taxes [Line Items]
Net operating loss carryforwards	$ 182,200,000
California State
Income Taxes [Line Items]
Net operating loss carryforwards	$ 65,100,000
Net operating loss carryforwards, expire	2036
California State | Research and Development Credit Carry Forwards
Income Taxes [Line Items]
Tax credit carryforwards	$ 7,400,000