Stockholders' Equity - Summary of Stock Option Activity under Stock Plans (Detail) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares Outstanding Options of Beginning Balance	7,150,755
Number of Shares Outstanding of Option Granted	877,910
Number of Shares Outstanding of Options Exercised	(495,337)
Number of Shares Outstanding of Options Canceled	(156,311)
Number of Shares Outstanding of Ending Balance	7,377,017	7,150,755
Number of Shares Options vested and expected to vest at December 31, 2023	7,009,511
Number of Shares Options vested and exercisable at December 31, 2023	4,592,722
Outstanding Options Weighted-Average Remaining Contractual Term	6 years 5 months 23 days	7 years 10 days
Options vested and expected to vest at December 31, 2023	6 years 4 months 20 days
Options vested and exercisable at December 31, 2023	5 years 5 months 23 days
Weighted-Average Exercise Price Beginning Balance	$ 9.57
Weighted-Average Exercise Price, Options granted	23.67
Weighted-Average Exercise Price, Options exercised	3.77
Weighted-Average Exercise Price, Options canceled	17.33
Weighted-Average Exercise Price, Ending Balance	11.47	$ 9.57
Weighted-Average Exercise Price, Options vested and expected to vest at December 31, 2023	6.03
Weighted-Average Exercise Price, Options vested and exercisable at December 31, 2023	$ 3.65
Aggregate intrinsic values of options outstanding	$ 38,409
Aggregate Intrinsic Value, Options vested and expected to vest at December 31, 2023	38,158
Aggregate Intrinsic Value, Options vested and exercisable at December 31, 2023	$ 35,388