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Summary of Significant Accounting Policies - Additional Information (Details)
£ in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
Segment
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2022
GBP (£)
Dec. 31, 2021
USD ($)
Summary of Significant Accounting Policies [Line Items]        
Number of operating segment | Segment 1      
Deferred offering costs $ 4,100,000      
Cash 1,500,000      
Restricted cash $ 1,500,000 $ 1,500,000    
Restricted Cash, Noncurrent, Statement of Financial Position [Extensible Enumeration] Other Assets, Noncurrent Other Assets, Noncurrent    
Impairments of long-lived assets $ 0 $ 0    
Unrecognized tax benefits, interest on income taxes expense 0      
Unrecognized tax benefits, income tax penalties $ 0      
Convertible preferred stock shares Issued | shares 0 0    
Convertible preferred stock shares outstanding | shares 0 0    
Research and development tax credits $ 0 $ 0    
Lease liabilities 20,104,000 24,500,000    
Right-of-use assets $ 23,620,000 $ 26,549,000    
ASU 2016-02        
Summary of Significant Accounting Policies [Line Items]        
Change in Accounting Principle, Accounting Standards Update, Adopted [true false] true      
Change in Accounting Principle, Accounting Standards Update, Adoption Date Jan. 01, 2022      
ASU 2016-13        
Summary of Significant Accounting Policies [Line Items]        
Change in Accounting Principle, Accounting Standards Update, Adopted [true false] true      
Change in Accounting Principle, Accounting Standards Update, Adoption Date Jan. 01, 2023      
Change in Accounting Principle, Accounting Standards Update, Immaterial Effect [true false] true      
ASU 2019-12        
Summary of Significant Accounting Policies [Line Items]        
Change in Accounting Principle, Accounting Standards Update, Adopted [true false] true      
Change in Accounting Principle, Accounting Standards Update, Adoption Date Jan. 01, 2023      
Change in Accounting Principle, Accounting Standards Update, Immaterial Effect [true false] true      
United Kingdom        
Summary of Significant Accounting Policies [Line Items]        
Research and development tax credits     £ 3.4 $ 4,100,000
Other Assets        
Summary of Significant Accounting Policies [Line Items]        
Deferred offering costs $ 400,000