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Equity Incentive Plan - Summary of Stock Option Activity (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of shares, Beginning balance 8,152,093  
Number of shares, Stock options granted 2,602,050  
Number of shares, Stock options exercised (76,888)  
Number of shares, Stock options forfeited (1,468,285)  
Number of shares, Ending balance 9,208,970 8,152,093
Number of shares, Exercisable 5,083,778  
Weighted- average exercise price per share, Beginning balance $ 11.92  
Weighted- average exercise price per share, Stock options granted 5.17  
Weighted- average exercise price per share, Stock options exercised 1.89  
Weighted- average exercise price per share, Stock options forfeited 10.61  
Weighted- average exercise price per share, Ending balance 10.31 $ 11.92
Weighted- average exercise price per share, Exercisable $ 12.1  
Weighted- average remaining contractual term 7 years 6 months 10 days 8 years 1 month 2 days
Weighted- average remaining contractual term, Exercisable 6 years 7 months 20 days  
Aggregate intrinsic value $ 2,930 $ 3,329
Aggregate intrinsic value, Exercisable $ 1,299