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Equity Incentive Plans - Additional Information (Detail) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Jan. 01, 2023
Dec. 31, 2022
Jan. 01, 2022
Jul. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Collected withholdings under plan     $ 200,000          
Weighted-average grant-date fair values of options granted     $ 6.94 $ 9.67        
Aggregate intrinsic value of options exercised $ 500,000   $ 1,000,000          
Unrecognized stock-based compensation of unvested options $ 19,400,000   $ 19,400,000          
Weighted-average period expected to recognize     2 years 2 months 12 days          
Dividend yield     0.00%          
Common stock reserved for future issuance 15,704,612   15,704,612     13,159,736    
Description of Transaction of Future issuance     annual increases under the evergreen provision are equal to the lesser of (i) 5% of the aggregate number of shares of common stock outstanding on the final day of the immediately preceding calendar year and (ii) such smaller number of shares of common stock as determined by the Board, subject to certain limitations.          
Number of Shares, Granted     745,800          
Weighted-Average Exercise Price, Granted     $ 9.81          
Stock based compensation $ 2,300,000 $ 2,600,000 $ 4,500,000 $ 5,100,000        
Share of common stock purchased 3,742,000 3,532,000 7,265,000 6,506,000        
ESPP purchase 661,000   $ 661,000          
Restricted Stock Units RSU                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period     4 years          
Unrecognized stock-based compensation of unvested options 19,100,000   $ 19,100,000          
Weighted-average period expected to recognize     3 years 2 months 12 days          
Stock based compensation $ 1,400,000 800,000 $ 2,500,000 1,300,000        
2021 Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock available for issuance 7,297,963   7,297,963     6,099,584    
Common stock reserved for future issuance 5,200,000   5,200,000   2,414,907   2,375,235  
2021 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance 1,630,570   1,630,570   482,981   475,047 850,000
Stock based compensation $ 100,000 $ 100 $ 300,000 $ 100        
ESPP purchase, Shares     78,534          
ESPP purchase     $ 700,000