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Stockholder's Equity - Schedule of Common Stock Reserved for Future Issuance (Detail) - shares
Sep. 30, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Common stock reserved 9,335,202 8,152,093
Common stock reserved 1,743,618  
Common stock reserved 47,045,096 50,174,938
Stock Options Issued and Outstanding [Member]    
Class Of Stock [Line Items]    
Common stock reserved 9,335,202 8,152,093
Stock Options Reserved for 2020 Incentive Award Plan [Member]    
Class Of Stock [Line Items]    
Common stock reserved 1,743,618 478,109
Unvested Restricted Stock Units Outstanding [Member]    
Class Of Stock [Line Items]    
Common stock reserved 533,917 550,236
Common Stock Reserved for Employee Stock Purchase Plan [Member]    
Class Of Stock [Line Items]    
Common stock reserved 1,401,331 994,257
2022 Employment Inducement Award Plan [Member]    
Class Of Stock [Line Items]    
Common stock reserved 870,400 1,610,600
Pre-Funded Warrants [Member]    
Class Of Stock [Line Items]    
Common stock reserved 22,113,649 24,696,206
Common Warrants [Member]    
Class Of Stock [Line Items]    
Common stock reserved 8,427,508 8,427,508
2021 ATM Program [Member]    
Class Of Stock [Line Items]    
Common stock reserved 2,619,471 5,265,929