Related Party Transactions (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Related Party Transaction [Line Items]
Research and development	$ 15,028,000	$ 13,627,000
Current liabilities	23,456,000	21,178,000
Related Party
Related Party Transaction [Line Items]
Research and development	$ 0	38,725
Term of product royalty sales period	10 years
Royalties	$ 300,000	0
Current liabilities	$ 100,000	$ 100,000