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Term Loans - Additional Information (Detail)
$ / shares in Units, $ in Thousands
3 Months Ended
Feb. 22, 2022
USD ($)
Mar. 31, 2023
USD ($)
$ / shares
shares
Mar. 31, 2022
USD ($)
Mar. 31, 2021
USD ($)
Tranche
Dec. 31, 2022
USD ($)
Debt Instrument [Line Items]          
Outstanding principal, Term loans   $ 19,137      
Extended cut off date before which the interest on term loan shall be paid Mar. 01, 2024        
Long term debt net of unamortized debt discounts   $ 20,000      
Loan and Security Agreement [Member] | Less Than One Year From The Date Of Loan Agreement [Member]          
Debt Instrument [Line Items]          
Prepayment fee as a percentage of the outstanding principal       3.00%  
Loan and Security Agreement [Member] | Greater Than One Year And Less Than Two Years From The Date Of Loan Agreement [Member]          
Debt Instrument [Line Items]          
Prepayment fee as a percentage of the outstanding principal       2.00%  
Loan and Security Agreement [Member] | Later Than Two Years And Not Later Than Three Years From The Date Of Loan Agreement [Member]          
Debt Instrument [Line Items]          
Prepayment fee as a percentage of the outstanding principal       1.00%  
Loan and Security Agreement [Member] | Later Than Three Years From The Date Of Loan Agreement [Member]          
Debt Instrument [Line Items]          
Prepayment fee as a percentage of the outstanding principal       0.00%  
Loan and Security Agreement [Member] | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Number of tranches | Tranche       2  
Debt instrument, face amount       $ 30,000  
Number of days within which a portion of term loan will be available subject to achievement of milestone 45 days        
Long term debt variable interest rate percentage       7.70%  
Loan and Security Agreement [Member] | Prime Rate [Member] | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Debt instrument variable interest rate spread       4.45%  
Loan and Security Agreement [Member] | Warrants To Purchase Series C Redeemable Convertible Stock | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Exercise price of warrants | $ / shares   $ 5.33      
Number of shares subject to each warrant | shares   37,575      
Loan and Security Agreement [Member] | Common Stock [Member] | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Common stock up on conversion | shares   17,575      
Loan and Security Agreement [Member] | Debt Instrument, Term Loan A [Member] | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Debt Instrument, Discount   $ 1,600      
Outstanding principal, Term loans   20,000   $ 20,000 $ 20,000
Amortization of debt discount   700 $ 500    
Issuance of term loans, net of issuance costs       $ 12,500  
Extended maturity of Term A Loans, Description In connection with the amendment, the maturity of the Term A Loans was extended from March 18, 2026 to February 1, 2027.        
Term loan final payment as a percentage of the amount funded       5.50%  
Long term debt net of unamortized debt discounts   $ 19,100     $ 19,100
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member]          
Debt Instrument [Line Items]          
Additional Term Loans $ 10,000        
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Less Than One Year From The Date Of Loan Agreement [Member]          
Debt Instrument [Line Items]          
Loan initiation date Jun. 30, 2023        
Loan and Security Agreement [Member] | Debt Instrument, Term Loan B [Member] | Oxford Finance LLC [Member]          
Debt Instrument [Line Items]          
Debt instrument, face amount       $ 10,000  
Issuance of term loans, net of issuance costs       $ 7,400