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Equity Incentive Plan - Schedule of Stock Option Activity Under 2019 Plan (Detail) - 2019 Plan [Member]
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Options outstanding, beginning balance | shares 4,260,753  
Options granted | shares 1,277,771  
Exercised | shares (4,676)  
Options forfeited | shares (285,592)  
Options expired | shares (18,017)  
Options outstanding, ending balance | shares 5,230,239 4,260,753
Options Vested and Exercisable, June 30, 2021 | shares 1,330,862  
Options Vested and Expected to Vest, June 30, 2021 | shares 5,230,239  
Weighted average exercise price, beginning balance | $ / shares $ 8.46  
Weighted average exercise price, granted | $ / shares 8.02  
Exercised | $ / shares 8.00  
Weighted average exercise price, forfeited | $ / shares 8.25  
Weighted average exercise price, expired | $ / shares 8.00  
Weighted average exercise price, ending balance | $ / shares 8.36 $ 8.46
Options Vested and Exercisable, June 30, 2021 | $ / shares 8.38  
Options Vested and Expected to Vest, June 30, 2021 | $ / shares $ 8.36  
Weighted average remaining contractual term, balance 8 years 9 months 18 days 9 years
Options Vested and Exercisable, June 30, 2021 8 years 4 months 24 days  
Options Vested and Expected to Vest, June 30, 2021 8 years 9 months 18 days  
Aggregate intrinsic value, beginning balance | $ $ 5 [1] $ 54 [1]
Options Vested and Expected to Vest, June 30, 2021 | $ $ 5 [1]  
[1] Aggregate intrinsic value represents the difference between the estimated fair value of the underlying Common Stock (as defined below) and the exercise price of outstanding in-the-money options.