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Equity Incentive Plans - Summary of Stock-Based Compensation Expense (Detail) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 4,660 | $ 4,520 | $ 9,267 | $ 8,772
Research and Development [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 2,307 | 2,117 | 4,558 | 4,076
General and Administrative [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,353 | $ 2,403 | $ 4,709 | $ 4,696

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