Income Taxes - Schedule of Loss Before Income Taxes (Detail) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United States	$ (36,416)	$ (44,321)	$ (28,803)
Foreign	251	142	87
Loss before income taxes	$ (36,165)	$ (44,179)	$ (28,716)