Organization and Summary of Significant Accounting Policies - Schedule of Computation of Basic and Diluted Net Loss per Common Share (Detail) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Numerator:
Net loss attributable to common stockholders	$ (22,534)	$ (15,773)	$ (61,290)	$ (49,308)
Denominator:
Weighted-average common shares outstanding	100,028,828	76,688,478	92,664,250	77,099,940
Less: Weighted-average shares subject to repurchase	(183,095)	(183,095)	(183,095)	(18,309)
Denominator for basic net loss per share	99,845,733	76,505,383	92,481,155	76,916,845
Denominator for diluted net loss per share	99,845,733	76,505,383	92,481,155	76,916,845
Net loss per share:
Basic	$ (0.23)	$ (0.21)	$ (0.66)	$ (0.64)
Diluted	$ (0.23)	$ (0.21)	$ (0.66)	$ (0.64)