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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