Nature of the Business - Additional Information (Detail) - USD ($) $ in Thousands	May 31, 2023	Mar. 07, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2021
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Accumulated deficit			$ 280,618	$ 274,388
Aggregate principal amount of initial loan advance			4,744
Hercules Term Loan Agreement [Member]
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Additional cash and cash equivalent and available for sale debt securities			$ 4,900
Principal amount		$ 7,500
Minimum qualified cash balance		2,250
Hercules Term Loan Agreement [Member] | Forecast [Member]
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Minimum qualified cash balance	$ 0
Raised from equity investment	$ 20,000
Hercules Term Loan Agreement [Member] | Tranche 1 Advance [Member]
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Aggregate principal amount of initial loan advance				12,500	$ 12,500
Hercules Term Loan Agreement [Member] | Maximum [Member]
Organization Consolidation And Presentation Of Financial Statements Disclosure [Line Items]
Minimum qualified cash balance		$ 10,000
Aggregate principal amount of initial loan advance				$ 30,000	$ 30,000