Term Loans - Additional Information (Detail) $ / shares in Units, $ in Thousands		3 Months Ended			9 Months Ended
	Feb. 22, 2022 USD ($)	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($)	Mar. 31, 2021 USD ($) Tranche	Sep. 30, 2023 USD ($) $ / shares shares	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Debt Instrument [Line Items]
Outstanding principal, term loans		$ 19,299			$ 19,299
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			$ 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%			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			$ 5.33
Number of shares subject to each warrant | shares		37,575			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			$ 1,600
Outstanding principal, term loans		20,000		20,000	20,000		$ 20,000
Amortization of debt discount		700	$ 600		$ 2,100	$ 1,600
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		$ 19,300			$ 19,300		$ 19,300
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