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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Aug. 13, 2024
Nov. 09, 2021
Sep. 30, 2024
Mar. 31, 2024
Sep. 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)     873,434   873,434          
Number of shares of unvested restricted stock units and options outstanding (in shares)     176,279   176,279          
Common stock, other shares, outstanding (in shares)     265,191   265,191          
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)     129,000   129,000          
Common stock, other shares, outstanding (in shares)     905,952   905,952          
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)     85,994   85,994          
Number of shares of unvested restricted stock units and options outstanding (in shares)     20,829   20,829          
Common stock, other shares, outstanding (in shares)     52,018   52,018          
2007 Incentive Plan                    
Class of Stock [Line Items]                    
Common stock, other shares, outstanding (in shares)     96,608   96,608          
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%      
2024 Sales Agreement | Common stock                    
Class of Stock [Line Items]                    
Maximum authorized amount $ 60,000                  
Sale of stock, sales proceeds of any common stock, percentage (in percent) 3.00%                  
Aggregate number of shares issued (in shares)     86,361              
Stock sale agreement weighted average price (in dollars per share)     $ 7.84              
Aggregate proceeds     $ 667              
Stock sale agreement, remaining capacity, amount     $ 59,300   $ 59,300          
2021 Sales Agreement | Common stock                    
Class of Stock [Line Items]                    
Maximum authorized amount   $ 300,000                
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       $ 5,200   $ 5,500        
Warrant | Underwritten Registered Direct Offering                    
Class of Stock [Line Items]                    
Warrant exercise price (in dollars per share)             $ 0.001      
Common stock | Underwritten Registered Direct Offering                    
Class of Stock [Line Items]                    
Class of warrant or right, common stock ownership (in percent)             9.99%