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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Nov. 09, 2021 | Mar. 31, 2023 | Mar. 31, 2022 | Feb. 28, 2023 | Jun. 24, 2022 | Jan. 01, 2022 | May 13, 2016
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock, shares, issued (in shares) |  | 262,739,126 |  |  |  |  |
McDermid v. Inovio Pharmaceuticals, Inc. and J. Joseph Kim |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock, shares, issued (in shares) |  |  |  | 9,121,000 |  |  |
2016 Incentive Plan |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Number of shares authorized (in shares) |  |  |  |  |  |  | 24,000,000
Number of potential shares authorized for issuance under share based compensation plan (in shares) |  |  |  |  |  |  | 2,000,000
Increase in number of shares authorized (in shares) |  |  |  |  |  | 2,000,000 |
Number of shares available for grant (in shares) |  | 2,761,477 |  |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  | 1,994,799 |  |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 13,239,324 |  |  |  |  |
Award vesting period (in years) |  | 3 years |  |  |  |  |
Maximum contractual term (in years) |  | 10 years |  |  |  |  |
2007 Incentive Plan |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 1,748,245 |  |  |  |  |
Award vesting period (in years) |  | 3 years |  |  |  |  |
Maximum contractual term (in years) |  | 10 years |  |  |  |  |
2022 Inducement Plan |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Number of shares authorized (in shares) |  |  |  |  | 2,000,000 |  |
Number of shares available for grant (in shares) |  | 1,573,125 |  |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  | 155,000 |  |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 271,875 |  |  |  |  |
Common stock | Sales Agreement |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Maximum authorized amount | $ 300.0 |  |  |  |  |  |
Sale of stock, sales proceeds of any common stock, percentage | 3.00% |  |  |  |  |  |
Aggregate number of shares issued (in shares) |  | 0 | 8,480,483 |  |  |  |
Stock sale agreement weighted average price (in dollars per share) |  |  | $ 3.52 |  |  |  |
Aggregate proceeds |  |  | $ 29.4 |  |  |  |
Remaining authorized amount |  | $ 167.4 |  |  |  |  |

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