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Accrued Expenses and Other Liabilities - Schedule of Accrued Expenses and Other Liabilities (Detail) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Accrued Liabilities And Other Liabilities [Abstract] |  |
Accrued compensation and related expenses | $ 783 | $ 31
Accrued severance | 337 | 12
Accrued clinical | 912 | 258
Accrued professional services | 52 | 9
Accrued vacation | 148 | 67
Accrued costs associated with PIPE financing |  | 450
Accrued other | 39 | 146
Total accrued expenses and other liabilities | $ 2,271 | $ 973

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