Related Party Transactions - Schedule of Related Party Transactions (Detail) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Assets
Accounts receivable	$ 3,033		$ 3,033		$ 3,292
Prepaid expenses and other current assets	16,816		16,816		12,539
Operating lease right-of-use assets	5,587		5,587		3,753
Other noncurrent assets	5,680		5,680		4,910
Liabilities
Accounts payable	6,408		6,408		3,055
Current operating lease liabilities	695		695		591
Unearned revenue	5,216		5,216		8,729
Non-current operating lease liabilities	6,500		6,500		3,459
UMD and Duke [Member]
Related Party Transaction [Line Items]
Revenues	1,296	$ 1,014	3,308	$ 3,008
Cost of revenue	51	13	83	39
Research and development	243	274	789	814
Sales and marketing	12	30	43	99
General and administrative	14	$ 29	88	$ 87
Assets
Prepaid expenses and other current assets	520		520		529
Operating lease right-of-use assets	3,529		3,529		3,753
Other noncurrent assets	935		935		1,325
Liabilities
Accounts payable	63		63		29
Current operating lease liabilities	647		647		591
Unearned revenue	1,957		1,957		3,514
Non-current operating lease liabilities	$ 3,255		$ 3,255		$ 3,459