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Equity Incentive Plans - Additional Information (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Jan. 01, 2024
Dec. 31, 2023
Jan. 01, 2023
Jul. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Weighted-average grant-date fair values of options granted     $ 2.71 $ 6.94        
Aggregate intrinsic value of options exercised $ 100   $ 700          
Unrecognized stock-based compensation of unvested options $ 10,000   $ 10,000          
Weighted-average period expected to recognize     1 year 4 months 24 days          
Common stock reserved for future issuance 17,367,180   17,367,180     15,222,954    
Description of Transaction of Future issuance     annual increases 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     7,377          
Weighted-Average Exercise Price, Granted     $ 4.43          
Stock based compensation $ 1,900 $ 2,300 $ 3,800 $ 4,500        
Share of common stock purchased 4,317 3,742 8,823 7,265        
ESPP purchase 450 661 450 661        
Restricted Stock Units RSU                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Unrecognized stock-based compensation of unvested options 23,400   $ 23,400          
Weighted-average period expected to recognize     2 years 10 months 24 days          
Stock based compensation $ 2,300 1,400 $ 4,600 2,500        
2021 Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock available for issuance 5,926,286   5,926,286     6,033,176    
Common stock reserved for future issuance 5,200,000   5,200,000   2,456,568   2,414,907  
2021 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Collected withholdings under plan     $ 100          
Common stock reserved for future issuance 1,979,540   1,979,540   491,313   482,981 850,000
Stock based compensation $ 200 $ 100 $ 300 $ 300        
ESPP purchase, Shares     232,290          
ESPP purchase     $ 500