Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Federal provision for income taxes	$ 0	$ 0	$ 0
State provision for income taxes	0	0	0
Provision for income taxes	0	0	0
Deferred tax assets	120,779,000	99,711,000
Valuation allowance increased	21,100,000
U.S federal net operating loss carryforwards	232,200,000
State net operating loss carryforwards	189,900,000
Operating loss carryforwards	$ 229,000,000
Carryforwards expiration year	2036
Statutory federal income tax rate	21.00%
Increase or decrease in unrecognized tax benefits	$ 0	0	0
Unrecognized tax benefits that would affect effective tax rate	0	$ 0	$ 0
California
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	$ 13,500,000
Federal
Operating Loss Carryforwards [Line Items]
Carryforwards expiration year	2036
Research and development tax credit carryforwards	$ 21,200,000