Debt - Schedule of Outstanding Borrowings under SVB Term Loan (Detail) - USD ($) $ in Thousands	Sep. 30, 2023	May 09, 2023	Dec. 31, 2022	Aug. 13, 2020
Debt Instrument [Line Items]
Less current portion			$ 7,000
Term loan payable, non-current			2,151
SVB Term Loan [Member]
Debt Instrument [Line Items]
Principal outstanding under term loan	$ 0		8,167	$ 14,000
Term loan discount-interest			(24)
Term loan discount-unamortized deferred charges			(29)
Term loan discount-financing costs, net of accretion			(3)
Debt instrument, accrued final payment fee			1,040
Loans Payable, Noncurrent			9,151
Less current portion			7,000
Term loan payable, non-current	$ 0	$ 5,200	$ 2,151