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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Operating Loss Carryforwards [Line Items]    
Valuation allowance activity $ 10,100,000 $ 13,600,000
Employer payroll taxes deferred, CARES Act 1,400,000  
Income tax benefit recognized related to uncertain tax positions 0 0
Interest expense related to uncertain tax positions 0 0
Liability related to unrecognized tax benefits 0 $ 0
Domestic Tax Authority    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 405,100,000  
Operating loss carryforwards, not subject to expiration 106,900,000  
Research and development tax credit carryforwards 10,900,000  
California Franchise Tax Board    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards 64,200,000  
Research and development tax credit carryforwards 10,900,000  
Foreign Tax Authority    
Operating Loss Carryforwards [Line Items]    
Net operating loss carryforwards $ 25,500,000