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Net Loss Per Share - Basic and Diluted Net Loss Per Share (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Numerator:    
Net loss $ (11,880) $ (14,826)
Denominator:    
Weighted average common shares outstanding 42,690,767 42,585,657
Less: weighted-average unvested restricted common stock subject to repurchase (3,274) (454,163)
Less: weighted average unvested common stock issued upon early exercise of common stock options (292,870) (579,781)
Weighted - average shares used to compute net loss per common share - basic 42,394,623 41,551,713
Weighted - average shares used to compute net loss per common share - diluted 42,394,623 41,551,713
Net loss per share, basic $ (0.28) $ (0.36)
Net loss per share, diluted $ (0.28) $ (0.36)