Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Deferred tax expense or benefit	$ 0	$ 0
Accrual for interest or penalties	0	0
Unrecognized tax benefits	2,389,000	$ 1,273,000	$ 510,000
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	49,900,000
Operating loss carryforwards subject to expiration	500,000
Operating loss carryforwards indefinite period	$ 49,400,000
Percentage to be utilized to offset future taxable income.	80.00%
Net operating loss carryforwards expiration starting period	2037
Federal | Research
Operating Loss Carryforwards [Line Items]
Tax credits	$ 6,400,000
Tax credits expiration starting year	2037
State
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 117,600,000
Net operating loss carryforwards expiration starting period	2037
State | Research
Operating Loss Carryforwards [Line Items]
Tax credits	$ 3,100,000