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Equity Incentive Plans - Summary of Shares of Common Stock Reserved for Future Issuance (Detail) - shares
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 29, 2020
Class Of Stock [Line Items]        
Common stock reserved for future issuance 19,180,000 16,793,000 13,576,000  
2017 Stock Incentive Plan [Member]        
Class Of Stock [Line Items]        
Common stock reserved for future issuance 16,989,000 14,271,000 11,014,000  
2017 Employee Stock Purchase Plan [Member]        
Class Of Stock [Line Items]        
Common stock reserved for future issuance 553,000 665,000 801,000  
2020 Inducement Stock Incentive Plan [Member]        
Class Of Stock [Line Items]        
Common stock reserved for future issuance 1,638,000 1,857,000 1,761,000 750,000