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, 2022 USD ($) $ / shares shares		Dec. 31, 2021 USD ($) $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning balance | shares	5,093,682
Options granted | shares	1,135,850
Options forfeited | shares	(75,535)
Options expired | shares	(62,634)
Options outstanding, ending balance | shares	6,091,363		5,093,682
Options vested and exercisable | shares	2,861,327
Options vested and expected to vest | shares	6,091,363
Weighted average exercise price, beginning balance | $ / shares	$ 8.34
Weighted average exercise price, granted | $ / shares	5.99
Weighted average exercise price, forfeited | $ / shares	7.93
Weighted average exercise price, expired | $ / shares	8.25
Weighted average exercise price, ending balance | $ / shares	7.90		$ 8.34
Weighted average exercise price, vested and exercisable | $ / shares	8.38
Weighted average exercise price, vested and expected to vest | $ / shares	$ 7.90
Weighted average remaining contractual term, balance	8 years 2 months 12 days		8 years 4 months 24 days
Weighted average remaining contractual term, vested and exercisable	7 years 7 months 6 days
Weighted average remaining contractual term, vested and expected to vest	8 years 2 months 12 days
Aggregate intrinsic value, beginning balance | $	$ 454	[1]	$ 24	[1]
Aggregate intrinsic value, vested and expected to vest | $	$ 454	[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.