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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2018
Income Taxes [Line Items]      
U.S. federal statutory tax rate 21.00% 21.00%  
Valuation allowance $ 14,578,000 $ 11,884,000  
Increase in valuation allowance $ 2,700,000    
Cumulative change in ownership percentage 50.00%    
Unrecognized tax benefit that would impact effective tax rate, if recognized $ 120,000    
Income tax interest and penalties accrued 100,000 $ 100,000  
U.S. Domestic      
Income Taxes [Line Items]      
Net operating loss carry forwards $ 23,200,000    
Net operating loss carryforwards begin to expire 2029    
Post 2018 operating loss carryforward available to offset future taxable income $ 11,900,000    
Percentage of future taxable income offset by operating loss carryforward     80.00%
Tax credit carry forwards $ 2,100,000    
Tax credit carry forwards, expire period 2026    
State      
Income Taxes [Line Items]      
Net operating loss carry forwards $ 11,500,000    
Net operating loss carryforwards begin to expire 2026    
Tax credit carry forwards $ 1,800,000