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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)