Accrued Liabilities - Schedule of Accrued Liabilities (Detail) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued professional fees	$ 3,066	$ 1,814
Accrued salaries and payroll	2,306	1,299
Accrued bonus	1,496	5,463
Accrued clinical	1,333	2,399
Accrued contract manufacturing	898	405
Advanced customer payments	0	1,571
Accrued other - sales related	1,150	1,435
Accrued other	584	536
Total accrued liabilities	$ 10,833	$ 14,922