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Stock Plans and Stock-Based Compensation - Summary of Stock Option Grants, Including Performance Options (Detail)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Shares Subject to Outstanding Options  
Outstanding at the beginning of period | shares 8,811,630
Options granted | shares 2,660,965
Options exercised | shares (106,847)
Options forfeited | shares (307,018)
Options expired | shares (267,299)
Outstanding as end of period | shares 10,791,431
Vested and expected to vest | shares 10,791,431
Exercisable | shares 6,327,680
Weighted-Average Exercise Price of Options  
Outstanding at the beginning of period | $ / shares $ 6.35
Options granted | $ / shares 4.84
Options exercised | $ / shares 2.05
Options forfeited | $ / shares 5.89
Options expired | $ / shares 7.60
Outstanding as end of period | $ / shares 6.01
Vested and expected to vest | $ / shares 6.01
Exercisable | $ / shares $ 6.62
Weighted-Average Remaining Contractual Term (Years)  
Outstanding 7 years 3 months 10 days
Vested and expected to vest 7 years 3 months 10 days
Exercisable 6 years 2 months 19 days
Aggregate Intrinsic Value (In Thousands)  
Outstanding | $ $ 1,514
Vested and expected to vest | $ 1,514
Exercisable | $ $ 1,510