Balance Sheets Details - Schedule of Prepaid Expenses and Other Current Assets (Detail) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Tax receivable	$ 1,506	$ 104
Prepaid R&D costs	1,476	2,467
Prepaid insurance and service contracts	1,424	1,860
Interest receivable - marketable debt securities	168	0
Other	319	230
Total	$ 4,893	$ 4,661