Borrowings - Schedule of Future Principal Debt Payments on Currently Outstanding Loan Payable (Detail) - USD ($)	Dec. 31, 2021	May 13, 2021	Apr. 09, 2020
Debt Disclosure [Abstract]
2024	$ 20,737,000
2025	9,263,000
Total principal payments	30,000,000
Final fee due at maturity	1,185,000
Total principal and final fee payment	31,185,000	$ 20,000,000.0	$ 10,000,000.0
Unamortized discount and debt issuance costs	(2,440,000)
Loan payable, long term	$ 28,745,000