Balance Sheet Components - Summary of Accrued and Other Liabilities (Detail) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Payables And Accruals [Abstract]
Accrued research and development costs	$ 3,016	$ 1,715
Accrued employee related costs	2,882	4,359
Accrued professional fees	1,576	774
Operating lease liabilities	$ 356	$ 207
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	us-gaap:OtherCurrentLiabilitiesMember	us-gaap:OtherCurrentLiabilitiesMember
Other	$ 83	$ 93
Total accrued and other liabilities	$ 7,913	$ 7,148