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Income Taxes - Deferred tax assets (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Deferred tax assets:    
Federal and state net operating loss carryforwards $ 56,409,000 $ 49,789,000
Research and development tax credits 14,208,000 11,395,000
Capitalized R&D Costs 20,776,000 12,424,000
Operating lease liabilities 1,818,000 1,960,000
Share-based compensation 6,053,000 4,389,000
Accruals and other 1,076,000 1,305,000
Gross deferred tax assets 100,340,000 81,262,000
Less: valuation allowance (98,960,000) (79,724,000)
Total deferred tax assets 1,380,000 1,538,000
Deferred tax liabilities:    
Operating lease assets (1,380,000) (1,538,000)
Gross deferred tax liabilities (1,380,000) $ (1,538,000)
Increase in valuation allowance 19,200,000  
Federal net operating loss carryforwards 203,900,000  
State net operating loss carryforwards 208,500,000  
Federal net operating loss carryforwards that do not expire 181,100,000  
Federal research and development tax credit carryforwards 14,100,000  
State research and development tax credit carryforwards 100,000  
Unrecognized income tax benefits $ 0