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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |
Income tax provision | $ 0 | $ 0 |  |
Valuation allowance, DTA increase in the period | 27,400,000 |  |  |
Unrecognized tax benefits | 3,392,000 | 2,700,000 | $ 1,917,000 | $ 1,407,000
Accrued interest or penalties related to uncertain tax positions | 0 |  |  |
U.S. Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 326,300,000 | 264,600,000 |  |
U.S. Federal | Research and development credit carryforwards | Internal Revenue Service (IRS) |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward, amount | 7,500,000 | 6,000,000 |  |
U.S. State and Local |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Operating loss carryforwards | 194,000,000 | 155,700,000 |  |
U.S. State and Local | Research and development credit carryforwards | California Franchise Tax Board |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Tax credit carryforward, amount | $ 6,000,000 | $ 4,800,000 |  |

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