Accrued Liabilities - Schedule of Accrued Liabilities (Detail) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued professional fees	$ 1,942	$ 1,814
Accrued salaries and payroll	1,428	1,299
Accrued bonus	2,781	5,463
Accrued clinical	669	2,399
Accrued contract manufacturing	1,501	405
Advanced customer payments	0	1,571
Accrued other - sales related	745	1,435
Accrued other	619	536
Total accrued liabilities	$ 9,685	$ 14,922