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Net Loss per Share Attributable to Common Stockholders - Computation of Basic and Diluted Net Loss per Share Attributable to Common Stockholders (Detail) - USD ($)
$ / shares in Units, $ 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
Numerator—basic and diluted:                
Net Income (Loss) $ (51,146) $ (44,615) $ (41,126) $ (35,403) $ (37,572) $ (37,169) $ (136,887) $ (110,144)
Net loss attributable to common stockholders - basic (51,146)     (35,403)     (136,887) (110,144)
Net loss attributable to common stockholders - diluted $ (51,146)     $ (35,403)     $ (136,887) $ (110,144)
Net loss per share attributable to common stockholders—basic $ (0.73)     $ (0.58)     $ (1.97) $ (1.84)
Net loss per share attributable to common stockholders— diluted $ (0.73)     $ (0.58)     $ (1.97) $ (1.84)
Denominator—basic and diluted:                
Weighted-average number of common shares used to compute net loss per share attributable to common stockholders—basic 69,855,766     60,670,294     69,645,888 59,941,384
Weighted-average number of common shares used to compute net loss per share attributable to common stockholders—diluted 69,855,766     60,670,294     69,645,888 59,941,384