Preferred Stock and Stockholders' Deficit - Additional Information (Detail) - USD ($)			3 Months Ended		9 Months Ended
	Sep. 30, 2022	Jan. 24, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Aug. 25, 2021	Aug. 24, 2021
Class Of Stock [Line Items]
Preferred Stock, Shares authorized			100,000,000		100,000,000		100,000,000
Preferred stock, par value			$ 0.0001		$ 0.0001		$ 0.0001
Proceeds from issuance of common stock - Registered direct offerings, net of issuance costs					$ 14,523,000	$ 0
Common Stock Value			$ 6,000		$ 6,000		$ 4,000
Preferred stock, shares outstanding			0		0		0
Proceeds from exercise of common stock options and warrants					$ 56,000	3,000
Stock options outstanding			12,035,764		12,035,764		8,738,880
Stock and Warrants Issued During Period, Value, Preferred Stock and Warrants					$ 19,214,827
Common stock, shares issued			62,794,656		62,794,656		41,990,383
Common Stock, Shares, Issued			62,794,656		62,794,656		41,990,383
Number of Option Outstanding,Granted					3,790,001
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit					$ 100
Increase in reserved shares, percentage					$ 110
No share purchases under the Purchase Agreement			0		0
Fair value of vested option					$ 3,900,000
Share-based Payment Arrangement, Expense			$ 1,100,000	$ 1,600,000	3,400,000	$ 3,600,000
Unrecognized compensation cost related to outstanding employee options					$ 5,200,000
Expected term (in years)					2 years 6 months
Unrecognized compensation cost related to outstanding nonemployee options					$ 1,300,000
Outstanding non employee expense expected period					1 year
Maximum
Class Of Stock [Line Items]
Expected term (in years)					6 years 1 month 6 days	6 years 1 month 6 days
Minimum
Class Of Stock [Line Items]
Expected term (in years)					5 years 3 months 18 days	5 years 2 months 12 days
Holder of More Than 10% [Member]
Class Of Stock [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit					$ 10
Purchase Agreement [Member]
Class Of Stock [Line Items]
Other expense relating to the commitment fee		$ 800,000
lincoln Park [Member]
Class Of Stock [Line Items]
Purchase Agreement		36 months
Initial Purchase Amount		$ 3,000,000
Initial purchase number of shares		557,610
Shares issued, commitment shares		142,939
lincoln Park [Member] | Maximum
Class Of Stock [Line Items]
Available for sales of common shares under the facility		$ 50,000,000
lincoln Park [Member] | Regular Purchase [Member]
Class Of Stock [Line Items]
Trading volume percentage		25.00%
Percentage of common shares outstanding prior to the execution of purchase agreement		97.00%
Atm Offering Program Member
Class Of Stock [Line Items]
Payments Of Commission Percentage	3.00%
Proceeds from exercise of common stock options and warrants					$ 900,000
Shares Issued Price Per Share			$ 0.63		$ 0.63
Common stock, shares issued			406,077		406,077
Temporary equity underwriting discounts, commissions and fees					$ 200,000
Common Stock, Shares, Issued			406,077		406,077
Atm Offering Program Member | Maximum
Class Of Stock [Line Items]
Common Stock Value	$ 15,000,000		$ 50,000,000	$ 15,000,000	$ 50,000,000	$ 15,000,000
2013, Equity Incentive Plan
Class Of Stock [Line Items]
Stock options outstanding			3,280,428		3,280,428			3,920,657
Number of shares reserved for future issuance			0		0
Shares grants			0		0
2021, Equity Incentive Plan
Class Of Stock [Line Items]
Shares authorized			11,153,615		11,153,615
Shares purchased for award					9,388,410
Number of shares reserved for future issuance			2,398,279		2,398,279
Shares grants			2,398,279		2,398,279
2021 Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Shares fair market value percentage									85.00%
Common stock, shares issued			93,562		93,562
Share-Based Compensation Arrangement by Share-Based Payment Award, Percentage of Increase in Reserved Shares									1.00%
Number of shares reserved for future issuance			1,524,183		1,524,183				880,000
Shares grants			1,524,183		1,524,183				880,000
Common Stock, Shares, Issued			93,562		93,562
2021 Employee Stock Purchase Plan [Member] | Maximum
Class Of Stock [Line Items]
Number of shares reserved for future issuance									15,000,000
Shares grants									15,000,000
June 2023 Registered Direct Offering
Class Of Stock [Line Items]
Amortization Of Sales Commissions					$ 900,000
Net Proceed			$ 7,800,000		7,800,000
Proceeds from exercise of common stock options and warrants					$ 8,700,000
Shares Issued Price Per Share			$ 1.125		$ 1.125
Common stock, shares issued			5,950,000		5,950,000
Common Stock, Shares, Issued			5,950,000		5,950,000
May 2023 Registered Direct Offering
Class Of Stock [Line Items]
Amortization Of Sales Commissions					$ 800,000
Net Proceed			$ 6,700,000		6,700,000
Proceeds from exercise of common stock options and warrants					$ 7,500,000
Shares Issued Price Per Share			$ 0.655		$ 0.655
Common stock, shares issued			4,700,000		4,700,000
Common Stock, Shares, Issued			4,700,000		4,700,000
Common Stock [Member] | lincoln Park [Member]
Class Of Stock [Line Items]
Ownership percentage		4.99%
Common Stock [Member] | lincoln Park [Member] | Maximum
Class Of Stock [Line Items]
Purchase shares		30,000
Common Stock [Member] | lincoln Park [Member] | Purchase Agreement [Member]
Class Of Stock [Line Items]
Price per share		$ 6.42
Percentage of common shares outstanding prior to the execution of purchase agreement		19.99%
Aggregate number of common shares		8,133,926
Common Stock [Member] | lincoln Park [Member] | Regular Purchase [Member]
Class Of Stock [Line Items]
Regular Purchase, Description		The Regular Purchase Amount may be increased as follows: to up to 50,000 shares if the closing price is not below $5.00, and up to 75,000 shares if the closing price is not below $10.00.
Committed obligation amount		$ 2,500,000,000
Common Stock [Member] | lincoln Park [Member] | Regular Purchase [Member] | Maximum
Class Of Stock [Line Items]
Purchase shares					30,000
Common Stock [Member] | 2021 Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Stock Issued During Period, Shares, Employee Stock Purchase Plans						27,428
Employee Option [Member]
Class Of Stock [Line Items]
Weighted-average grant date fair value					$ 0.38
H.C. Wainwright & Co [Member] | Private Placement [Member] | June 2023 Registered Direct Offering
Class Of Stock [Line Items]
Gross Proceed			7.00%		7.00%
Managemengt fees percentage			1.00%		1.00%
Costs and Expenses					$ 50,000,000
Clearing fees					$ 15,950,000
H.C. Wainwright & Co [Member] | Private Placement [Member] | June 2023 Placement Agent Warrants
Class Of Stock [Line Items]
Gross Proceed			7.00%		7.00%
H.C. Wainwright & Co [Member] | Private Placement [Member] | May 2023 Registered Direct Offering
Class Of Stock [Line Items]
Gross Proceed			7.00%		7.00%
Managemengt fees percentage			1.00%		1.00%
Costs and Expenses					$ 75,000,000
Clearing fees					$ 15,950,000
H.C. Wainwright & Co [Member] | Private Placement [Member] | May 2023 Placement Agent Warrants
Class Of Stock [Line Items]
Gross Proceed			7.00%		7.00%