Income Taxes - Additional Information (Detail) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Changes in valuation allowance	$ 20,600,000	$ 17,600,000
R&D activities amortization period	5 years
Foreign R&D activities amortization period	15 years
R&D expenses capitalized	$ 49,500,000
Unrecognized tax benefits that would impact effective tax rate	3,300,000
Uncertain tax positions	4,725,000	$ 2,767,000	$ 2,282,000
Accrued penalties on uncertain tax positions	200,000
Research Tax Credit Carryforward
Tax credit carryforward	$ 12,300,000
Tax credit carryforward, expiration date	2024
Domestic Tax Authority
Operating loss carryforwards	$ 103,500,000
Operating loss carryforwards, expiration date	2025
State and Local Jurisdiction
Operating loss carryforwards	$ 136,200,000
Tax credit carryforward	$ 8,900,000
Operating loss carryforwards, expiration date	2028
Foreign Tax Authority
Operating loss carryforwards	$ 13,700,000
Operating loss carryforwards, expiration date	2023
Not Expirable | Domestic Tax Authority
Operating loss carryforwards	$ 107,100,000
Not Expirable | Foreign Tax Authority
Operating loss carryforwards	$ 1,700,000