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Debt - Schedule of Components of Interest Expense of Term Loan (Detail) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Debt Instrument [Line Items]        
Interest expense $ 296,000   $ 590,000  
SVB Term Loan [Member]        
Debt Instrument [Line Items]        
Interest payments 150,000   299,000  
Accretion and amortization of term loan discounts 27,000   54,000  
Accrual of the final payment fee 119,000   237,000  
Interest expense $ 296,000 $ 0 $ 590,000 $ 0