Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes Disclosure [Line Items]
Increase in valuation allowance	$ 38,300,000	$ 30,500,000
Operating loss carryforwards, subject to expiration	1,300,000,000
Income tax research credits	1,192,000	987,000	$ 4,727,000
Unrecognized tax benefits, interest recognized	0	0	0
Unrecognized tax benefits, penalties recognized	$ 0	$ 0	$ 0
Unrecognized tax benefits, period may increase or decrease due to tax examination	12 months
Federal
Income Taxes Disclosure [Line Items]
Operating loss carryforwards	$ 2,700,000,000
Income tax research credits	126,000,000
State
Income Taxes Disclosure [Line Items]
Operating loss carryforwards	700,000,000
Income tax research credits	$ 59,900,000