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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