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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Income Tax Disclosure [Line Items]    
Increase in valuation allowance $ 27,900,000 $ 26,200,000
Interest expense or penalties related to unrecognized tax benefits 0  
Increase in deferred tax assets related to capitalized research expenses 6,400,000 15,500,000
Federal    
Income Tax Disclosure [Line Items]    
Operating loss carryforwards $ 317,600,000 273,300,000
Operating loss carryforwards expiration beginning year 2035  
Uncertain tax positions reserves $ 3,100,000  
Research and experimental expenses required to amortized term 5 years  
Federal | Research and Development    
Income Tax Disclosure [Line Items]    
Tax credit carryforwards amount $ 12,400,000 10,200,000
State    
Income Tax Disclosure [Line Items]    
Operating loss carryforwards $ 12,100,000 12,100,000
Operating loss carryforwards expiration beginning year 2035  
Uncertain tax positions reserves $ 2,500,000  
State | Research and Development    
Income Tax Disclosure [Line Items]    
Tax credit carryforwards amount $ 9,900,000 $ 8,400,000
Foreign    
Income Tax Disclosure [Line Items]    
Research and experimental expenses required to amortized term 15 years