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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Line Items] |  |  |
Valuation allowance increased amount | $ 39,272,000 |  |
Unrecognized tax benefits | 1,028,000 | $ 1,028,000 | $ 1,270,000
Accrued interest or penalties related to uncertain tax positions | 0 | 0 |
U.S. Federal and State |  |  |
Income Tax Disclosure [Line Items] |  |  |
Net operating loss carryforwards | $ 109,544,000 | 102,723,000 |
Operating loss carryforwards expiration year | 2040 |  |
U.S. Federal and State | Research and Development |  |  |
Income Tax Disclosure [Line Items] |  |  |
Tax credit carryforwards | $ 5,674,000 | $ 5,674,000 |
Tax credit carryforwards expiration year | 2032 |  |

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