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Income Taxes - Reconciliation Between Federal Statutory Tax Rate and Effective Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory federal tax rate	21.00%	21.00%	21.00%
Permanent items	(1.00%)	0.00%	(1.00%)
State income taxes, net of federal benefit	3.00%	1.00%	4.00%
R&D and other tax credits	3.00%	3.00%	4.00%
Foreign income taxes	(1.00%)	0.00%	(1.00%)
Change in valuation allowance	(21.00%)	(22.00%)	(27.00%)
Asset acquisitions	(3.00%)	0.00%	0.00%
Stock-based compensation	(1.00%)	(2.00%)	0.00%
Other	0.00%	(1.00%)	0.00%
Effective tax rate	0.00%	0.00%	0.00%

X

- Definition

Effective Income Tax Rate Reconciliation, Asset Acquisitions, Percent

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The portion of the difference between the effective income tax rate and domestic federal statutory income tax rate attributable to permanent items.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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-Topic 740
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-Section 50
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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research and development expense.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other adjustments.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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