Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Operating Loss Carryforwards [Line Items]
Income tax benefit or provision	$ 0	$ 0
Tax credit carry forwards	13,371	9,433
Net change in valuation allowance	$ 26,800	24,600
Cumulative change in ownership percentage	50.00%
Period for cumulative change in ownership	3 years
Income tax interest and penalties accrued	$ 0	$ 0
Federal
Operating Loss Carryforwards [Line Items]
Net operating loss carry forwards	195,300
Operating loss carryforward available to offset future taxable income	191,500
Tax credit carry forwards	9,400
State
Operating Loss Carryforwards [Line Items]
Net operating loss carry forwards	$ 188,800
Net operating loss carry forwards, expire period	2036
Tax credit carry forwards	$ 7,700
Tax credit carry forwards, expire period	2037