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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