Related Party Transactions - Schedule of Related Party Transactions (Detail) - UMD and Duke [Member] - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Related Party Transaction [Line Items]
Revenue	$ 1,020	$ 1,002	$ 2,012	$ 1,994
Cost of revenue	19	12	32	26
Research and development	271	269	546	540
Sales and marketing	11	37	31	69
General and administrative	27	$ 29	74	$ 58
Assets
Accounts receivable	325		325		$ 0
Prepaid expenses and other current assets	520		520		529
Operating lease right-of-use asset	3,605		3,605		3,753
Other noncurrent assets	1,065		1,065		1,325
Liabilities
Accounts payable	12		12		29
Accrued expenses	55		55		0
Current operating lease liabilities	628		628		591
Unearned revenue	3,253		3,253		3,514
Non-current operating lease liabilities	$ 3,324		$ 3,324		$ 3,459