Equity Incentive Plan - Schedule of Stock Option Activity Under 2019 Plan (Detail) - 2019 Plan [Member] - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning balance	5,757,779	5,093,682
Options granted	997,796	1,135,850
Options forfeited	(35,791)	(273,195)
Options expired	(190,692)	(198,558)
Options outstanding, ending balance	6,529,092	5,757,779	5,093,682
Options vested and exercisable	4,503,751
Options vested and expected to vest	6,529,092
Weighted average exercise price, beginning balance	$ 7.92	$ 8.34
Weighted average exercise price, granted	1.05	6
Weighted average exercise price, forfeited	5.07	7.51
Weighted average exercise price, expired	8.12	8.24
Weighted average exercise price, ending balance	6.88	$ 7.92	$ 8.34
Weighted average exercise price, vested and exercisable	8.21
Weighted average exercise price, vested and expected to vest	$ 6.88
Weighted average remaining contractual term, balance	7 years 1 month 6 days	7 years 7 months 6 days	8 years 4 months 24 days
Options vested and exercisable, December 31, 2023	6 years 4 months 24 days
Options vested and expected to vest, December 31, 2023	7 years 1 month 6 days