Stock-Based Compensation - Summary of Stock Option Activity (Detail) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Options, Outstanding, Beginning Balance	7,689,449	6,512,280
Number of Options, Granted	2,004,668
Number of Options, Exercised	(93,218)
Number of Options, Forfeited	(286,035)
Number of Options, Expired	(1,417,217)
Number of Options, Outstanding, Ending Balance	7,897,647	7,689,449	6,512,280
Number of Options, Outstanding, Weighted average remaining contractual life as of December 31, 2023	6 years 8 months 15 days
Number of Options, Options exercisable	4,840,045
Number of Options, Exercisable, Weighted average remaining contractual life as of December 31, 2023	5 years 5 months 15 days
Number of Options, Options vested and expected to vest at December 31, 2023	7,897,647
Number of Options, Vested and expected to vest, Weighted average remaining contractual life as of December 31, 2023	6 years 8 months 15 days
Weighted-Average Exercise Price, Outstanding, Beginning Balance	$ 14.35
Weighted-Average Exercise Price, Granted	8.15
Weighted-Average Exercise Price, Exercised	6.00
Weighted-Average Exercise Price, Forfeited	9.25
Weighted-Average Exercise Price, Expired	14.74
Weighted-Average Exercise Price, Outstanding, Ending Balance	12.99	$ 14.35
Weighted-Average Exercise Price, Options exercisable, December 31, 2023	14.69
Weighted-Average Exercise Price, Options vested and expected to vest at December 31, 2023	$ 12.99
Fair value of options vested	$ 12,810	$ 14,156	$ 12,844
Intrinsic value of options exercised	$ 476	$ 118	$ 965
Nonemployee | Consultants [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Options, Granted	0	0	0