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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2019 | Oct. 01, 2019
Operating Loss Carryforwards [Line Items] |  |  |  |
Increase in valuation allowance | $ (112,000) | $ 3,273,000 |  |
Net operating loss carryforwards, permanent loss of tax benefit |  |  | $ 30,880,000 |
R&D credit | 2,154,000 | 2,154,000 |  |
Unrecognized tax benefits, income tax penalties and interest accrued | 0 | 0 |  |
Unrecognized tax benefits, income tax penalties and interest expense | 0 | 0 |  |
Federal |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | 140,075,000 | 135,517,000 |  |
NOL subject to expiration | 75,350,000 |  |  |
State |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Net operating loss carryforwards | $ 98,844,000 | $ 97,531,000 |  |
Collaboration Products |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |
Noncontrolling interest, ownership percentage by parent |  |  |  | 75.00%

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