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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Line Items] |  |  |
Provision for income taxes | $ 0 | $ 0 | $ 0
Deferred tax assets, net operating loss carryforwards | 34,717,000 | 31,777,000 |
Research and development credit carryforwards | 19,997,000 | 9,454,000 |
Penalties or interest accrued | 0 | 0 | 0
Unrecognized tax benefits | 3,822,000 | 1,962,000 | $ 1,304,000
Orphan Drug Credits |  |  |
Income Tax Disclosure [Line Items] |  |  |
Tax credit carry forward amount |  | $ 6,300,000 |
Federal Income Tax |  |  |
Income Tax Disclosure [Line Items] |  |  |
Deferred tax assets, net operating loss carryforwards | 135,300,000 |  |
Deferred tax assets, operating loss carryforwards subject to expire | $ 11,600,000 |  |
Tax credit carry forward expiration year | 2037 |  |
Deferred tax assets, operating loss carryforwards subject to do not expire | $ 123,700,000 |  |
Research and development credit carryforwards | $ 12,000,000.0 |  |
Research and experimental expenditures amortize period (in years) | 5 years |  |
California State Income Tax |  |  |
Income Tax Disclosure [Line Items] |  |  |
Deferred tax assets, net operating loss carryforwards | $ 89,600,000 |  |
Deferred tax assets, operating loss carryforwards subject to expire | $ 89,600,000 |  |
Tax credit carry forward expiration year | 2036 |  |
Research and development credit carryforwards | $ 6,400,000 |  |
Foreign Income Tax |  |  |
Income Tax Disclosure [Line Items] |  |  |
Research and experimental expenditures amortize period (in years) | 15 years |  |
California |  |  |
Income Tax Disclosure [Line Items] |  |  |
Tax years | 2020 2021 |  |

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