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Commitments and Contingencies - Narrative (Details) - USD ($)
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Jun. 30, 2022
Lessee, Lease, Description [Line Items]            
Impairment (loss) gain $ 0 $ 200,000 $ 200,000 $ 7,100,000    
Additional milestone payments, contingent amount     2,600,000      
Milestone contingent amount payable     3,400,000      
Restructuring Plan            
Lessee, Lease, Description [Line Items]            
Restructuring charges 700,000   1,400,000      
Contract Terminations | Restructuring Plan            
Lessee, Lease, Description [Line Items]            
Restructuring charges 15,000 $ 0 546,000 $ 1,888,000    
Non Cancelable Purchase Commitments with Contract Research Organizations | Contract Terminations | Restructuring Plan            
Lessee, Lease, Description [Line Items]            
Restructuring charges     3,200,000   $ 3,100,000  
Secured Mortgage Loan            
Lessee, Lease, Description [Line Items]            
Repayments of debt         600,000  
Secured Mortgage Loan | Loans Payable            
Lessee, Lease, Description [Line Items]            
Initial principal amount 82,837,000   82,837,000   82,837,000 $ 52,100,000
Debt issuance costs 911,000   $ 911,000   1,410,000  
Basis interest     5.25%      
Covenant, minimum net worth $ 85,000,000   $ 85,000,000   $ 85,000,000  
Minimum            
Lessee, Lease, Description [Line Items]            
Original lease terms 2 years   2 years      
Maximum            
Lessee, Lease, Description [Line Items]            
Original lease terms 5 years   5 years      
Maximum | Secured Mortgage Loan | Loans Payable            
Lessee, Lease, Description [Line Items]            
Additional future principal (upto)           $ 32,900,000