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Income Taxes - Reconciliation of Federal Statutory Income Tax Rate to Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal tax benefit	6.80%	9.50%	7.00%
Change in fair value of warrants	(1.80%)	0.50%	0.00%
Change in fair value of convertible notes	(1.30%)	0.00%	0.00%
Investment loss	2.10%	0.00%	0.00%
Other permanent items	0.00%	(0.10%)	(0.10%)
Tax rate adjustment	1.40%	(0.40%)	1.50%
Research and development credits	3.10%	3.60%	3.70%
Stock-based compensation	(1.00%)	(0.50%)	0.50%
Section 162(m) limitation	(0.40%)	(2.10%)	0.00%
Other	0.30%	1.50%	(0.90%)
Valuation allowance	(30.20%)	(33.00%)	(32.70%)
Effective income tax rate	0.00%	0.00%	0.00%

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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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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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