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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended 12 Months Ended
Nov. 09, 2021
Mar. 31, 2024
Jun. 30, 2024
Dec. 31, 2023
Apr. 18, 2024
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)     800,051          
Number of shares of unvested restricted stock units and options outstanding (in shares)     188,804          
Common stock, other shares, outstanding (in shares)     276,163          
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)     142,295          
Common stock, other shares, outstanding (in shares)     947,606          
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)     110,527          
Number of shares of unvested restricted stock units and options outstanding (in shares)     10,274          
Common stock, other shares, outstanding (in shares)     38,318          
2007 Incentive Plan                
Class of Stock [Line Items]                
Common stock, other shares, outstanding (in shares)     97,618          
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  
Underwritten Registered Direct Offering                
Class of Stock [Line Items]                
Class of warrant or right, common stock ownership (in percent)         19.99%      
Underwritten Registered Direct Offering | Warrant                
Class of Stock [Line Items]                
Warrant exercise price (in dollars per share)         $ 0.001      
Underwritten Registered Direct Offering | Common stock                
Class of Stock [Line Items]                
Class of warrant or right, common stock ownership (in percent)         9.99%      
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