Balance Sheet Items - Schedule of Prepaid Expenses and Other Current Assets (Detail) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Prepaid Expense and Other Assets, Current [Abstract]
Prepaid research and development expenses	$ 3,007	$ 2,099
Prepaid insurance	1,592	1,945
Other prepaid expenses and other assets	1,006	1,015
Total prepaid expenses and other current assets	$ 5,605	$ 5,059