Income Taxes - Reconciliation on Income Taxes Amount Computed by Applying Statutory Federal Income Tax Rate to Net Loss (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Income tax benefit at statutory rates	$ (24,675,000)	$ (23,906,000)
State income tax, net of federal benefit	(1,438,000)	(1,566,000)
Permanent items	1,656,000	1,891,000
Research and development credits	(6,170,000)	(3,426,000)
Change in valuation allowance	30,627,000	27,007,000
Income tax expense	$ 0	$ 0