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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2014
Operating Loss Carryforwards [Line Items]        
Income tax (benefit) expense $ (4,000) $ 24,000 $ 0  
Research and development credits 19,058,000 12,844,000   $ 200,000
Unrecognized tax benefits that if recognized and realized would affect the effective tax rate 0 0    
Interest or penalties on uncertain tax benefits 0 0    
Federal tax authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 313,800,000      
Domestic       5,300,000
Research and development credits   $ 15,000,000    
Federal tax authority | 2018 and after        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 261,700,000      
Federal tax authority | Research tax credit carryforwards        
Operating Loss Carryforwards [Line Items]        
Research tax credit carryforwards 12,100,000      
State tax authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards 73,300,000      
State and local       $ 5,400,000
State tax authority | Research tax credit carryforwards        
Operating Loss Carryforwards [Line Items]        
Research tax credit carryforwards 14,400,000      
Foreign tax authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards $ 3,200,000