Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating Loss Carryforwards [Line Items]
Income tax rate, percent	0.80%	3.90%
Net increase decrease in valuation allowances	$ 9,700,000	$ 6,700,000
Unrecognized Tax Benefits	136,000	42,000	$ 0
Accrued interest or penalties	0	$ 0
Federal [Member]
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 50,200,000
Taxable income limitation, percent	80.00%
Federal [Member] | Research and Development Tax Credit Carryforward [Member]
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	$ 600,000
Research and development tax credit carryforwards expiration year	2036
State [Member]
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 53,600,000
Net operating loss carryforwards expiration year	2036
State [Member] | Research and Development Tax Credit Carryforward [Member]
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	$ 200,000