Income Taxes - Summary of Components of the Deferred Tax Assets (Detail) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 161,189	$ 131,705
Tax credits	16,343	14,172
Accrual and reserves	4,907	4,509
Tangible and intangible assets	2,894	2,143
Stock-based compensation expense	4,596	4,686
Capitalized research costs	29,663	25,730
Other deferred tax asset	3,812	2,876
Gross deferred tax assets	223,404	185,821
Valuation allowance	(222,061)	(184,298)
Net deferred tax assets	1,343	1,523
Deferred tax liabilities:
Right-of-use assets	(1,343)	(1,523)
Gross deferred tax liabilities	$ (1,343)	$ (1,523)