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Equity Incentive Plans - Additional Information (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 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 $ 6.92        
Aggregate intrinsic value of options exercised $ 200   $ 800          
Unrecognized stock-based compensation of unvested options $ 8,100   $ 8,100          
Weighted-average period expected to recognize     1 year 3 months 18 days          
Common stock reserved for future issuance 16,861,220   16,861,220     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, Grants     7,377          
Weighted-Average Exercise Price, Granted     $ 4.43          
Stock based compensation $ 1,900 $ 2,100 $ 5,700 $ 6,600        
Share of common stock purchased 4,308 3,856 13,131 11,121        
ESPP purchase     450 661        
Restricted Stock Units RSU                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Unrecognized stock-based compensation of unvested options 21,200   $ 21,200          
Weighted-average period expected to recognize     2 years 8 months 12 days          
Stock based compensation $ 2,200 1,600 $ 6,900 4,200        
2021 Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock available for issuance 5,956,636   5,956,636     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     $ 400          
Common stock reserved for future issuance 1,747,250   1,747,250   491,313   482,981 850,000
Stock based compensation $ 100 $ 100 $ 500 $ 400        
ESPP purchase, Shares     232,290          
ESPP purchase     $ 500