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%