Income Taxes - Significant Components of Deferred Income Taxes (Detail) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 82,599	$ 88,584
Capitalized R&D	23,652	12,226
Deferred revenue	16,196	4,033
Lease liability	1,635	1,793
Stock-based compensation	11,720	9,461
Tax credits	8,473	6,916
Other	3,515	3,433
Total deferred tax assets	147,790	126,446
Deferred tax liabilities:
Right-of-use assets	1,361	1,650
Total deferred tax liabilities	1,361	1,650
Deferred tax assets, net	146,429	124,796
Valuation allowance	146,429	124,796
Total deferred tax liability	$ 0	$ 0