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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Tax Contingency [Line Items]    
Change in valuation allowance $ 28,300,000 $ 20,400,000
Net operating loss carryforwards 138,700,000  
Material interest and penalties on uncertain tax benefits 0  
Deferred Tax Assets 25,200,000  
Federal    
Income Tax Contingency [Line Items]    
Net operating loss carryforwards 9,500,000  
Tax credit carryforwards 12,400,000  
State    
Income Tax Contingency [Line Items]    
Net operating loss carryforwards $ 3,300,000  
Minimum | Federal    
Income Tax Contingency [Line Items]    
Net operating loss and tax credit carryforwards, expiration period 8 years  
Minimum | State    
Income Tax Contingency [Line Items]    
Operating loss carryforwards, expiration period 18 years  
Maximum | Federal    
Income Tax Contingency [Line Items]    
Net operating loss and tax credit carryforwards, expiration period 14 years  
Maximum | State    
Income Tax Contingency [Line Items]    
Operating loss carryforwards, expiration period 20 years