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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 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:                
Net loss $ (21,152) $ (13,272) $ (11,880) $ (12,509) $ (15,095) $ (14,826) $ (46,304) $ (42,430)
Denominator:                
Weighted average common shares outstanding 43,020,965     42,646,810     42,822,677 42,614,902
Less: weighted-average unvested restricted common stock subject to repurchase (2,107)     (209,421)     (2,762) (330,928)
Less: weighted average unvested common stock issued upon early exercise of common stock options (150,518)     (440,194)     (200,840) (506,922)
Weighted - average shares used to compute net loss per common share - basic 42,868,340     41,997,195     42,619,075 41,777,052
Weighted - average shares used to compute net loss per common share - diluted 42,868,340     41,997,195     42,619,075 41,777,052
Net loss per share, basic $ (0.49)     $ (0.3)     $ (1.09) $ (1.02)
Net loss per share, diluted $ (0.49)     $ (0.3)     $ (1.09) $ (1.02)