Accrued Liabilities - Schedule of Accrued Liabilities (Detail) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued Liabilities, Current [Abstract]
Accrued salaries and payroll	$ 1,590	$ 1,299
Accrued bonus	3,081	5,463
Accrued professional fees	2,504	1,814
Advanced customer payments	0	1,571
Accrued contract manufacturing	4,315	405
Accrued clinical	1,416	2,399
Accrued other - sales related	772	1,435
Accrued other	628	536
Total accrued liabilities	$ 14,306	$ 14,922