Income Taxes - Schedule of Net deferred Tax Assets (Detail) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 28, 2019
Deferred tax assets:
Net operating loss carryforwards	$ 92,445	$ 94,672
Capitalized research and development expense	8,109	4,291
Research and development tax credit carryforwards	13,565	12,186
Accrued expenses	2,994	2,528
Stock-based compensation expense	3,492	2,254
Lease liability	2,218	2,299
Section 163(j) interest	754
Other	483	170
Total deferred tax assets	124,060	118,400
Deferred tax liabilities:
Other	(885)	(674)
Right-of-use assets	(1,284)	(1,562)
Total deferred tax liabilities	(2,169)	(2,236)
Valuation allowance	$ (121,891)	$ (116,164)	$ (101,029)	$ (95,024)