XML 61 R45.htm IDEA: XBRL DOCUMENT v3.24.0.1
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