Stock-Based Compensation - Additional Information (Detail) $ / shares in Units, $ in Thousands														1 Months Ended														12 Months Ended
	Jun. 15, 2023 shares	Jun. 01, 2023 $ / shares shares	Mar. 01, 2023 $ / shares shares	Oct. 12, 2022 $ / shares shares	Jun. 15, 2022 $ / shares shares	Jun. 02, 2022 $ / shares shares	Mar. 31, 2022 shares	Feb. 25, 2022 installment $ / shares shares	Dec. 17, 2021 installment $ / shares shares	Oct. 29, 2021 tranche $ / shares shares	Jun. 03, 2021 $ / shares shares	Mar. 30, 2021 installment $ / shares shares	Jun. 04, 2020 $ / shares shares	Dec. 31, 2023 shares	Nov. 30, 2023 shares	Apr. 30, 2023 shares	Mar. 31, 2023 shares	Feb. 28, 2023 shares	Dec. 31, 2022 shares	Oct. 31, 2022 shares	Jun. 30, 2022 shares	Mar. 31, 2022 shares	Feb. 28, 2022 shares	Aug. 31, 2021 shares	Mar. 31, 2021 shares	Feb. 28, 2021 shares	Feb. 29, 2020 installment $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2015 shares	Jan. 01, 2024 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, shares outstanding														54,480,704					53,797,341									54,480,704	53,797,341
Common stock, shares issued														54,480,704					53,797,341									54,480,704	53,797,341
Number of restricted stock units outstanding														566,324					372,513									566,324	372,513	576,544
Number of options outstanding														7,897,647					7,689,449									7,897,647	7,689,449	6,512,280
Options granted																												2,004,668
Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-Based Payment Arrangement, Forfeited																3,585
Employees [Member] | Restricted Stock Units [Member] | Research and Development [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 476	$ 765	$ 1,201
Employees [Member] | Restricted Stock Units [Member] | General and Administrative [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												1,146	2,693	2,324
Employees [Member] | Performance Restricted Stock Units [Member] | March 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												0
Director [Member] | Restricted Stock Units [Member] | General and Administrative [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 501	$ 628	$ 565
Employees And Non-Employee Members Of Board Of Directors [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value of options granted | $ / shares																												$ 5.75	$ 7.25	$ 12.00
Options granted																												2,004,668	1,899,919	1,422,750
2014 Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of stock options that may be granted after the tenth anniversary of the 2014 Plan																												0
Annual increases in number of shares reserved for issuance as a percentage of shares of capital stock outstanding through January 1, 2024																															3.00%
Share-based compensation arrangement by share-based payment award, number of shares authorized														12,203,023														12,203,023
2014 Equity Incentive Plan [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 96
2014 Equity Incentive Plan [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 103
2014 Equity Incentive Plan [Member] | Subsequent Event [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, number of shares authorized																																13,837,444
2014 Equity Incentive Plan [Member] | Maximum [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Term of awards granted																												10 years
2014 Equity Incentive Plan [Member] | Maximum [Member] | Incentive Stock Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, number of shares authorized																															30,000,000
2014 Equity Incentive Plan [Member] | Board of Directors Chairman [Member] | Restricted Stock Units [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded																					11,876
2014 Equity Incentive Plan [Member] | Board of Directors Chairman [Member] | Restricted Stock Units [Member] | General and Administrative [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																													$ 100
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded								243,000
Restricted stock units, grant date fair value | $ / shares								$ 10.46
Compensation expense | $																													$ 0
Restricted stock units, Forfeited																			214,000
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded												176,000
Restricted stock units, grant date fair value | $ / shares												$ 20.59
Compensation expense | $																														$ 906
Restricted stock units, vested																							37,999	44,002
Restricted stock units, forfeited due to performance targets not getting met																						93,999
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded																											138,000
Restricted stock units, grant date fair value | $ / shares																											$ 16.36
Compensation expense | $																														1,256
Restricted stock units, vested																									40,000	36,750
Restricted stock units, Forfeited																													24,500
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | March 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded			407,000
Restricted stock units, grant date fair value | $ / shares			$ 10.06
Restricted stock units, Forfeited														168,150
Number of restricted stock units outstanding														238,850														238,850
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | Research and Development [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																														329
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | Research and Development [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																														524
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | General and Administrative [Member] | Modified November 2021 Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 303
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | General and Administrative [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												729		577
2014 Equity Incentive Plan [Member] | Employees [Member] | Performance Restricted Stock Units [Member] | General and Administrative [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																														732
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | Modified March 2021 Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, Forfeited																					17,333
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | Modified February 2020 Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, vested																					16,666
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted								3 years
Awarded								145,170
Restricted stock units, grant date fair value | $ / shares								$ 10.46
Number of equal installment | installment								3
Compensation expense | $																												$ 406	$ 390
Restricted stock units, vested																		42,920
Number of restricted stock units outstanding														78,665														78,665
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, vested	26,199
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted												3 years
Awarded												100,000
Restricted stock units, grant date fair value | $ / shares												$ 20.59
Number of equal installment | installment												3
Restricted stock units, vested																					17,333	33,336
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted																											3 years
Awarded																											98,000
Restricted stock units, grant date fair value | $ / shares																											$ 16.36
Number of equal installment | installment																											3
Compensation expense | $																												$ 39	526	607
Restricted stock units, vested																		15,999					32,666			32,669
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 135	161
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												219		166
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												26	175	174
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | Modified February 2020 Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																													264	73
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												271	229
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																														426
2014 Equity Incentive Plan [Member] | Employees [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | February 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 13	351	433
2014 Equity Incentive Plan [Member] | Director [Member] | Incentive Stock Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted																												3 years
2014 Equity Incentive Plan [Member] | Director [Member] | Restricted Stock Units [Member] | June 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted													1 year
Awarded													36,000
Restricted stock units, grant date fair value | $ / shares													$ 15.62
Restricted stock units vesting date											Jun. 03, 2021
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Director [Member] | Restricted Stock Units [Member] | General and Administrative [Member] | June 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																														239
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted									18 months
Awarded									63,573
Restricted stock units, grant date fair value | $ / shares									$ 12.45
Number of equal installment | installment									2
Compensation expense | $																												$ 199	433	20
Restricted stock units, vested																			26,204									0
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | October 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded				7,267
Restricted stock units, grant date fair value | $ / shares				$ 9.42
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 329	646	592
Restricted stock units, vested																	15,999
Number of restricted stock units outstanding														15,999														15,999
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 210		8
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | Research and Development [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												219
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | Modified March 2021 Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																													317	75
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																													223	12
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | October 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												51	17
2014 Equity Incentive Plan [Member] | Executive Officers [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | March 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 110	427
2014 Equity Incentive Plan [Member] | Former Chief Financial Officer [Member] | Performance Restricted Stock Units [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, Forfeited																					29,000
2014 Equity Incentive Plan [Member] | Former Chief Financial Officer [Member] | Time-based Restricted Stock Units [Member] | February 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, Forfeited																					20,000
2014 Equity Incentive Plan [Member] | Former Chief Financial Officer [Member] | Time-based Restricted Stock Units [Member] | December 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, Forfeited																					11,170
2014 Equity Incentive Plan [Member] | Interim Principal Financial and Accounting Officer [Member] | Time-based Restricted Stock Units [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded					7,500
Restricted stock units, grant date fair value | $ / shares					$ 7.94
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Interim Principal Financial and Accounting Officer [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																													60
2014 Equity Incentive Plan [Member] | Chief Executive Officer [Member] | Time-based Restricted Stock Units [Member] | October 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded										147,942
Restricted stock units, grant date fair value | $ / shares										$ 16.83
Number of restricted stock unit tranches | tranche										2
Restricted stock units, vested																				35,500								35,500
Number of restricted stock units outstanding														71,000														71,000
2014 Equity Incentive Plan [Member] | Chief Executive Officer [Member] | Time-based Restricted Stock Units [Member] | October 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Restricted stock units, vested																				35,500
2014 Equity Incentive Plan [Member] | Chief Executive Officer [Member] | Time-based Restricted Stock Units [Member] | General and Administrative [Member] | October 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 598	657	144
2014 Equity Incentive Plan [Member] | Chief Executive Officer [Member] | Share-Based Compensation Award, Tranche One [Member] | Time-based Restricted Stock Units [Member] | October 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of vested shares on first anniversary of grant date										25.00%
Awarded										142,000
2014 Equity Incentive Plan [Member] | Chief Executive Officer [Member] | Share-based Compensation Award, Tranche Two [Member] | Time-based Restricted Stock Units [Member] | October 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted										36 months
Restricted stock units, vested							5,942
2014 Equity Incentive Plan [Member] | Employee And Nonemployee Consultants [Member] | Share-Based Compensation Award, Tranche One [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of vested shares on first anniversary of grant date																												25.00%
2014 Equity Incentive Plan [Member] | Employee And Nonemployee Consultants [Member] | Share-based Compensation Award, Tranche Two [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted																												36 months
2014 Equity Incentive Plan [Member] | Employee And Nonemployee Consultants [Member] | Share Based Compensation Subsequent Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted																												4 years
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | General and Administrative [Member] | June 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 292
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | Restricted Stock Units [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted						1 year
Awarded						59,380
Restricted stock units, grant date fair value | $ / shares						$ 8.42
Restricted stock units, vested																												0
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | Restricted Stock Units [Member] | June 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted											1 year
Awarded											43,200
Restricted stock units, grant date fair value | $ / shares											$ 13.06
Number of restricted stock units outstanding														0														0
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | Restricted Stock Units [Member] | June 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period of awards granted		1 year
Awarded		194,172
Restricted stock units, grant date fair value | $ / shares		$ 3.09
Restricted stock units, Forfeited															32,362
Number of restricted stock units outstanding														161,810														161,810
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | Restricted Stock Units [Member] | General and Administrative [Member] | June 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 209	$ 290
2014 Equity Incentive Plan [Member] | Non-employee Directors [Member] | Restricted Stock Units [Member] | General and Administrative [Member] | June 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense | $																												$ 238		$ 326
2014 Equity Incentive Plan [Member] | Employees And Non-Employee Members Of Board Of Directors [Member] | Restricted Stock Units [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awarded																												601,172
Restricted stock units, grant date fair value | $ / shares																												$ 7.81
Restricted stock units, vested																												203,264
Restricted stock units, Forfeited																												204,097
Number of restricted stock units outstanding														566,324					372,513									566,324	372,513