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Stock-Based Compensation - Stock Option Activity and Related Information under Equity Plans (Detail) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Options    
Outstanding, beginning balance (in shares) 9,262,926  
Granted (in shares) 949,578  
Exercised (in shares) (184,362)  
Expired/forfeited (in shares) (207,707)  
Outstanding, ending balance (in shares) 9,820,435 9,262,926
Number of Options, Vested and exercisable (in shares) 5,867,252 3,445,499
Weighted-Average Exercise Price    
Outstanding, beginning balance (in dollars per share) $ 9.87  
Granted (in dollars per share) 2.99  
Exercised (in dollars per share) 1.59  
Expired/forfeited (in dollars per share) 5.53  
Outstanding, ending balance (in dollars per share) 9.46 $ 9.87
Weighted-Average Exercise Price, Vested and exercisable (in dollars per share) $ 11.54  
Aggregate Intrinsic Value    
Outstanding $ 6,046 $ 4,848
Aggregate Intrinsic Value, Vested and exercisable $ 4,118  
Weighted- Average Remaining Contractual Life (in years)    
Outstanding 6 years 7 months 6 days 7 years 2 months 12 days
Weighted- Average Remaining Contractual Life, Vested and exercisable (in years) 5 years 4 months 24 days