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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Nov. 09, 2021 | Mar. 31, 2024 | Dec. 31, 2023 | May 16, 2023 | Mar. 31, 2023 | Jun. 24, 2022
2023 Incentive Plan |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |
Number of shares authorized (in shares) |  |  |  | 1,166,666 |  |
Number of shares available for grant (in shares) |  | 917,945 |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  | 171,750 |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 260,109 |  |  |  |
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) |  | 207,594 |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 950,763 |  |  |  |
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) |  |  |  |  |  | 166,666
Number of shares available for grant (in shares) |  | 116,515 |  |  |  |
Number of shares of unvested restricted stock units and options outstanding (in shares) |  | 12,776 |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 33,071 |  |  |  |
2007 Incentive Plan |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |
Common stock, other shares, outstanding (in shares) |  | 111,235 |  |  |  |
Maximum contractual term (in years) |  | 10 years |  |  |  |
McDermid v. Inovio Pharmaceuticals, Inc. and J. Joseph Kim |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |
Shares issued in settlement (in shares) |  |  |  |  | 760,083 |
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 (in percent) | 3.00% |  |  |  |  |
Aggregate number of shares issued (in shares) |  | 543,620 | 875,305 |  |  |
Stock sale agreement weighted average price (in dollars per share) |  | $ 9.76 | $ 6.33 |  |  |
Aggregate proceeds |  | $ 5.2 | $ 5.5 |  |  |

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