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Changes in Stockholders' Equity - Summary of Reconciliation of Changes in Stockholders Equity (Detail) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Equity        
Beginning balance $ 122,158 $ 118,362 $ 109,588 $ 150,224
Issuance of common stock upon exercise of stock options 15 94 $ 83 996
Issuance of common stock upon exercise of stock options (in shares)     306,470  
Issuance of common stock upon exercise of common stock warrants   5   6
Proceeds from sale of common stock   12,703   15,051
Capitalization of deferred costs to equity upon share issuance (58)   $ (190) (13)
Stock-based Compensation 3,427 3,669 9,705 8,727
Foreign currency translation loss 61 41 (44) (38)
Change in unrealized loss on available-for-sale securities 70 32 54 273
Net loss (14,833) (22,215) (48,027) (62,535)
Ending balance 122,838 112,691 122,838 112,691
Common Stock Purchase Agreement        
Equity        
Proceeds from sale of common stock     $ 12,838  
Proceeds from sale of common stock (in shares)     10,056,799  
At The Market Offering Agreement        
Equity        
Proceeds from sale of common stock $ 11,998   $ 38,831  
Proceeds from sale of common stock (in shares) 11,294,746   30,718,121  
Common Stock        
Equity        
Beginning balance $ 17 $ 13 $ 14 $ 12
Beginning balance (in shares) 179,597,000 132,401,000 147,066,000 125,257,000
Issuance of common stock upon exercise of stock options (in shares) 57,000 164,000 307,000 3,588,000
Issuance of common stock upon exercise of common stock warrants (in shares)   334,000   477,000
Issuance of common stock upon release of RSUs (in shares) 1,010,000 946,000 3,810,000 2,654,000
Proceeds from sale of common stock   $ 1   $ 2
Proceeds from sale of common stock (in shares)   6,336,000   8,205,000
Ending balance $ 19 $ 14 $ 19 $ 14
Ending balance (in shares) 191,958,000 140,181,000 191,958,000 140,181,000
Common Stock | Common Stock Purchase Agreement        
Equity        
Proceeds from sale of common stock     $ 1  
Proceeds from sale of common stock (in shares)     10,057,000  
Common Stock | At The Market Offering Agreement        
Equity        
Proceeds from sale of common stock $ 2   $ 4  
Proceeds from sale of common stock (in shares) 11,294,000   30,718,000  
Additional Paid-In Capital        
Equity        
Beginning balance $ 508,971 $ 437,320 $ 463,089 $ 429,025
Issuance of common stock upon exercise of stock options 15 94 83 996
Issuance of common stock upon exercise of common stock warrants   5   6
Proceeds from sale of common stock   12,702   15,049
Capitalization of deferred costs to equity upon share issuance (58)   (190) (13)
Stock-based Compensation 3,427 3,669 9,705 8,727
Ending balance 524,351 453,790 524,351 453,790
Additional Paid-In Capital | Common Stock Purchase Agreement        
Equity        
Proceeds from sale of common stock     12,837  
Additional Paid-In Capital | At The Market Offering Agreement        
Equity        
Proceeds from sale of common stock 11,996   38,827  
Accumulated Other Comprehensive Gain (Loss)        
Equity        
Beginning balance 123 1 244 (161)
Foreign currency translation loss 61 41 (44) (38)
Change in unrealized loss on available-for-sale securities 70 32 54 273
Ending balance 254 74 254 74
Accumulated Deficit        
Equity        
Beginning balance (386,953) (318,972) (353,759) (278,652)
Net loss (14,833) (22,215) (48,027) (62,535)
Ending balance $ (401,786) $ (341,187) $ (401,786) $ (341,187)