| Document And Entity Information | Mar. 27, 2024 |
| Document Information [Line Items] | |
| Entity, Registrant Name | PIERIS PHARMACEUTICALS, INC. |
| Document, Type | 8-K |
| Document, Period End Date | Mar. 27, 2024 |
| Entity, Incorporation, State or Country Code | NV |
| Entity, File Number | 001-37471 |
| Entity, Tax Identification Number | 30-0784346 |
| Entity, Address, Address Line One | 225 Franklin Street |
| Entity, Address, Address Line Two | 26th Floor |
| Entity, Address, Postal Zip Code | 02110 |
| Entity, Address, City or Town | Boston |
| Entity, Address, State or Province | MA |
| City Area Code | 857 |
| Local Phone Number | 246-8998 |
| Written Communications | false |
| Soliciting Material | false |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
| Title of 12(b) Security | Common Stock |
| Trading Symbol | PIRS |
| Security Exchange Name | NASDAQ |
| Entity, Emerging Growth Company | false |
| Amendment Flag | false |
| Entity, Central Index Key | 0001583648 |
