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Stockholders' Equity - Summary of Changes in Stockholders' Equity (Detail) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Beginning balance | $ 400,041 | $ 435,505 | $ 467,449 | $ 361,940 | $ 374,549 | $ 408,368 | $ 467,449 | $ 408,368
Stock-based compensation expense | 8,321 | 8,065 | 6,238 | 4,362 | 3,938 | 3,478 |  |
Unrealized (loss) gain on marketable securities | 119 | (238) | 470 | (270) | (695) | (685) | $ 351 | $ (1,650)
Prefunded warrants, exercise |  | (1) |  |  |  |  |  |
Employee withholdings ESPP | 259 | 179 | 196 | 110 | 58 | 92 |  |
Proceeds from ATM sales |  |  |  |  | 19,427 |  |  |
Proceeds from exercise of stock options | 1,592 | 1,146 | 2,278 | 7,363 | 2,235 | 465 |  |
Proceeds from exercise of stock options, shares |  |  |  |  |  |  | 628,253 | 1,167,295
Net Income (Loss) | (51,146) | (44,615) | (41,126) | (35,403) | (37,572) | (37,169) | $ (136,887) | $ (110,144)
Ending balance | 359,186 | 400,041 | 435,505 | 338,102 | 361,940 | 374,549 | 359,186 | 338,102
Common Stock [Member] |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Beginning balance | $ 7 | $ 7 | $ 7 | $ 6 | $ 6 | $ 6 | $ 7 | $ 6
Beginning balance, shares | 69,431,198 | 68,495,426 | 68,111,385 | 56,399,734 | 55,030,890 | 54,983,105 | 68,111,385 | 54,983,105
Stock purchase under ESPP, shares | 18,260 |  | 16,537 | 10,053 |  | 18,946 |  |
Vesting of RSU, shares |  | 1,602 | 5,000 |  |  |  |  |
Prefunded warrants, exercise, shares |  | 771,133 | 85,998 | 2,832,151 |  |  |  |
Proceeds from ATM sales, shares |  |  |  |  | 1,111,111 |  |  |
Proceeds from exercise of stock options, shares | 188,710 | 163,037 | 276,506 | 880,723 | 257,733 | 28,839 |  |
Ending balance | $ 7 | $ 7 | $ 7 | $ 6 | $ 6 | $ 6 | $ 7 | $ 6
Ending balance, shares | 69,638,168 | 69,431,198 | 68,495,426 | 60,122,661 | 56,399,734 | 55,030,890 | 69,638,168 | 60,122,661
Additional Paid-In Capital [Member] |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Beginning balance | $ 1,179,389 | $ 1,170,000 | $ 1,161,288 | $ 981,712 | $ 956,054 | $ 952,019 | $ 1,161,288 | $ 952,019
Stock-based compensation expense | 8,321 | 8,065 | 6,238 | 4,362 | 3,938 | 3,478 |  |
Prefunded warrants, exercise |  | (1) |  |  |  |  |  |
Employee withholdings ESPP | 259 | 179 | 196 | 110 | 58 | 92 |  |
Proceeds from ATM sales |  |  |  |  | 19,427 |  |  |
Proceeds from exercise of stock options | 1,592 | 1,146 | 2,278 | 7,363 | 2,235 | 465 |  |
Ending balance | 1,189,561 | 1,179,389 | 1,170,000 | 993,547 | 981,712 | 956,054 | 1,189,561 | 993,547
Accumulated Other Comprehensive(Loss) / Income [Member] |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Beginning balance | (574) | (336) | (806) | (1,335) | (640) | 45 | (806) | 45
Unrealized (loss) gain on marketable securities | 119 | 238 | 470 | (270) | (695) | (685) |  |
Ending balance | (455) | (574) | (336) | (1,605) | (1,335) | (640) | (455) | (1,605)
Accumulated Deficit [Member] |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Beginning balance | (778,781) | (734,166) | (693,040) | (618,443) | (580,871) | (543,702) | (693,040) | (543,702)
Net Income (Loss) | (51,146) | (44,615) | (41,126) | (35,403) | (37,572) | (37,169) |  |
Ending balance | $ (829,927) | $ (778,781) | $ (734,166) | $ (653,846) | $ (618,443) | $ (580,871) | $ (829,927) | $ (653,846)

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