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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Line Items] |  |  |
Federal corporate tax rate | 21.00% | 21.00% | 21.00%
Increase (Decrease) in valuation allowance on deferred tax assets | $ 30,400,000 | $ 32,900,000 |
Expense, interest or penalties | 0 | 0 | $ 0
Accrued, interest or penalties | 0 | $ 0 | $ 0
Federal |  |  |
Income Tax Disclosure [Line Items] |  |  |
Net operating loss carryforwards | 285,500,000 |  |
Net operating loss carryforwards, subject to expiration | $ 86,100,000 |  |
Net operating loss carryforwards, begins to expire | 2031 |  |
Tax credit carryforward | $ 12,200,000 |  |
Tax credit carryforward, begins to expire | 2031 |  |
State |  |  |
Income Tax Disclosure [Line Items] |  |  |
Net operating loss carryforwards | $ 274,700,000 |  |
Net operating loss carryforwards, begins to expire | 2031 |  |
State | Research |  |  |
Income Tax Disclosure [Line Items] |  |  |
Tax credit carryforward | $ 10,500,000 |  |

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- Definition Percentage of domestic federal statutory tax rate applicable to pretax income (loss). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.4-08(h)(2)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 6.I.Fact.4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479360/740-10-S99-1 + Details
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