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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]      
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