Income Taxes - Effect of Temporary Differences and Carryforwards (Detail) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Net operating loss carryforwards	$ 146,108	$ 131,971
Research and development tax credit carryforwards	15,529	12,028
Deferred tax assets, Section 174 Capitalization	17,076	0
Deferred tax assets, deferred lease liability	5,736	6,423
Stock-based compensation	6,561	6,287
Deferred Tax Assets, Tax Credit Carryforwards, Foreign	659	659
Accruals and other	12,603	10,139
Total deferred tax assets before allowance	204,272	167,507
Less: Valuation allowance	(198,980)	(162,817)	$ (114,335)	$ (106,438)
Deferred tax assets, net	5,292	4,690
Deferred Tax Liabilities, Leasing Arrangements	(4,329)	(4,690)
Deferred Tax Liabilities, State net operating loss adjustments	(963)	0
Deferred Tax Liabilities, Gross	(5,292)	(4,690)
Deferred Tax Assets, Net	$ 0	$ 0