Income Taxes - Additional Information (Details) - USD ($) |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Income Tax Disclosure [Line Items] | |||
| Federal corporate tax rate | 21.00% | 21.00% | 21.00% |
| Increase (Decrease) in valuation allowance on deferred tax assets | $ 30,400,000 | $ 32,900,000 | |
| Expense, interest or penalties | 0 | 0 | $ 0 |
| Accrued, interest or penalties | 0 | $ 0 | $ 0 |
| Federal | |||
| Income Tax Disclosure [Line Items] | |||
| Net operating loss carryforwards | 285,500,000 | ||
| Net operating loss carryforwards, subject to expiration | $ 86,100,000 | ||
| Net operating loss carryforwards, begins to expire | 2031 | ||
| Tax credit carryforward | $ 12,200,000 | ||
| Tax credit carryforward, begins to expire | 2031 | ||
| State | |||
| Income Tax Disclosure [Line Items] | |||
| Net operating loss carryforwards | $ 274,700,000 | ||
| Net operating loss carryforwards, begins to expire | 2031 | ||
| State | Research | |||
| Income Tax Disclosure [Line Items] | |||
| Tax credit carryforward | $ 10,500,000 | ||