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Equity Incentive Plans - Additional Details (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Jan. 01, 2023
Jan. 01, 2022
Jul. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Weighted-average grant-date fair values of options granted $ 3.78 $ 9.56      
Aggregate intrinsic value of options exercised $ 1,700        
Unrecognized stock-based compensation of unvested options $ 14,100        
Common stock reserved for future issuance 15,222,954 13,159,736      
Description of transaction of future issuance 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.        
Weighted-average period expected to recognize 1 year 9 months 18 days        
Dividend yield 0.00% 0.00%      
Stock based compensation $ 8,500        
Withholding taxes on net share settlement of restricted stock units (224)        
Stock Issued During Period, Value, Purchase of Assets 933 $ 672      
Restricted Stock Units (RSUs)          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized stock-based compensation of unvested options $ 16,200        
Weighted-average period expected to recognize 2 years 10 months 24 days        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 4 years        
Stock based compensation $ 5,500        
Two Thousand And Twenty One Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock reserved for future issuance 5,200,000   2,414,907 2,375,235  
Common stock available for issuance 6,033,176 6,099,584      
Two Thousand Twenty One Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock reserved for future issuance 1,488,227 1,226,123 482,981 475,074 850,000
Dividend yield 0.00% 0.00%      
Stock based compensation $ 600        
Proceeds from stock plans $ 100        
Stock Issued During Period, Shares, Purchase of Assets 220,877        
Stock Issued During Period, Value, Purchase of Assets $ 900