Equity Incentive Plan - Schedule of Stock Option Activity Under 2019 Plan (Detail) - 2019 Plan [Member] - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning balance		5,093,682	4,260,753
Options granted		1,135,850	1,415,371
Options exercised			(4,676)
Options forfeited		(273,195)	(496,842)
Options expired		(198,558)	(80,924)
Options outstanding, ending balance		5,757,779	5,093,682	4,260,753
Options vested and exercisable		3,836,439
Options vested and expected to vest		5,757,779
Weighted average exercise price, beginning balance		$ 8.34	$ 8.46
Weighted average exercise price, granted		6.00	7.88
Weighted average exercise price, exercised			8.00
Weighted average exercise price, forfeited		7.51	8.09
Weighted average exercise price, expired		8.24	8.16
Weighted average exercise price, ending balance		7.92	$ 8.34	$ 8.46
Weighted average exercise price, vested and exercisable		8.36
Weighted average exercise price, vested and expected to vest		$ 7.92
Weighted average remaining contractual term, balance		7 years 7 months 6 days	8 years 4 months 24 days	9 years
Options vested and exercisable, December 31, 2022		7 years 1 month 6 days
Options vested and expected to vest, December 31, 2022		7 years 7 months 6 days
Aggregate intrinsic value, exercised	[1]		$ 1

[1] Aggregate intrinsic value (in thousands) represents the difference between the estimated fair value of the underlying common stock and the exercise price of outstanding, in-the-money options.