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Preferred Stock, Common Stock and Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Detail) - shares
Dec. 31, 2021
Dec. 31, 2020
Apr. 26, 2018
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]      
Stock options issued and outstanding 5,013,459 4,077,259  
Authorized for future option grants 1,463,685 1,402,433  
Warrants to purchase common stock 1,679,673 1,841,879  
Authorized for employee stock purchase plan 344,574 244,574  
Total common stock reserved for future issuance 8,501,391 7,566,145 6,286,425