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Equity Incentive Plans - Summary of Stock-Based Compensation Expense (Detail) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
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