Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Contingency [Line Items]
Income tax expense	$ 0	$ 0
Increase in valuation allowance	30,600,000
Federal net operating loss carryforwards	187,400,000
State net operating loss carryforwards	$ 180,400,000
Federal and state net operating loss carryforwards will begin to expire	Jan. 01, 2036
Federal net operating loss carryforwards with no expiration date	$ 181,900,000
Federal
Income Tax Contingency [Line Items]
Tax credit	12,400,000
Massachusetts
Income Tax Contingency [Line Items]
Tax credit	$ 4,900,000