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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Taxes |  |  |
U.S. Federal statutory income tax rate (as percent) | 21.00% | 21.00% |
Increase in valuation allowance for deferred tax assets | $ 7,300 | $ 8,700 |
U.S. federal net operating loss carryforwards | 128,000 |  |
U.S. federal net operating loss carryforwards, begin to expire in 2033 | 23,300 |  |
U.S. federal net operating loss carryforwards, carried over indefinitely | 104,700 |  |
Federal research and development tax credits, begin to expire in 2033 | 1,700 |  |
State net operating loss carryforwards, begin to expire in 2024 | 102,500 |  |
State research and development tax credits | 1,500 |  |
Unrecognized tax benefits | 544 | $ 430 | $ 313
Unrecognized tax benefits would impact the effective tax rate | $ 0 |  |

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- Definition Percentage of domestic federal statutory tax rate applicable to pretax income (loss). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 235 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.4-08(h)(2)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480678/235-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 6.I.Fact.4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479360/740-10-S99-1 + Details
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