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Long-term Debt - Carrying Value and Future Minimum Payments (Detail) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Debt Disclosure [Abstract]    
2026 $ 17,667 $ 17,667
2027 9,562 9,562
Total future minimum payments 27,229 27,229
Unamortized end of term charge (519) (630)
Debt issuance costs (394) (478)
Debt discount related to warrants (35) (43)
Total debt 26,281 26,078
Long-term debt $ 26,281 $ 26,078