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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
 9 Months Ended
Nov. 09, 2021
Sep. 30, 2023
May 16, 2023
Mar. 31, 2023
Jun. 24, 2022
McDermid v. Inovio Pharmaceuticals, Inc. and J. Joseph Kim          
Class of Stock [Line Items]          
Shares issued in settlement (in shares)       9,121,000  
2023 Incentive Plan          
Class of Stock [Line Items]          
Number of shares authorized (in shares)     14,000,000    
Number of shares available for grant (in shares)   15,072,020      
Number of shares of unvested restricted stock units and options outstanding (in shares)   22,500      
Common stock, other shares, outstanding (in shares)   36,875      
Award vesting period (in years)   3 years      
Maximum contractual term (in years)   10 years      
2016 Incentive Plan          
Class of Stock [Line Items]          
Number of shares of unvested restricted stock units and options outstanding (in shares)   3,178,448      
Common stock, other shares, outstanding (in shares)   12,452,945      
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)   1,498,437      
Number of shares of unvested restricted stock units and options outstanding (in shares)   128,333      
Common stock, other shares, outstanding (in shares)   336,563      
2007 Incentive Plan          
Class of Stock [Line Items]          
Common stock, other shares, outstanding (in shares)   1,693,494      
Maximum contractual term (in years)   10 years      
Common stock | 2021 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)   6,718,168      
Stock sale agreement weighted average price (in dollars per share)   $ 0.55      
Aggregate proceeds   $ 3.6      
Remaining authorized amount   $ 163.7