Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Contingency [Line Items]
Deferred tax assets operating loss carryforwards	$ 275,482,000
Deferred tax assets operating loss carryforwards subject to expiration	31,208,000
Deferred tax assets operating loss carryforwards not subject to expiration	244,274,000
Deferred tax assets operating loss carryforwards state	162,969,000
Net change in the valuation allowance	16,354,000	$ 27,723,000
Capitalized research and development expenses	13,906,000	20,859,000
Unrecognized tax benefits	$ 0	$ 0
U.S.
Income Tax Contingency [Line Items]
Amortized research and development expenses period		5 years
Outside U.S.
Income Tax Contingency [Line Items]
Amortized research and development expenses period		15 years
Reserach and Development tax credit carryforward
Income Tax Contingency [Line Items]
Net operating loss carryforwards expiration year	2039
Federal
Income Tax Contingency [Line Items]
Deferred tax assets tax credits carryforwards	$ 6,330,000
Net operating loss carryforwards expiration year	2031
State
Income Tax Contingency [Line Items]
Deferred tax assets tax credits carryforwards	$ 2,856,000
Net operating loss carryforwards expiration year	2031
State | Reserach and Development tax credit carryforward
Income Tax Contingency [Line Items]
Net operating loss carryforwards expiration year	2033