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Stock-Based Compensation - Summary of All Option Activity Under 2007 Plan, 2014 Plan, 2020 Plan and Inducement Grants (Detail) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares Issuable Under Options      
Outstanding, beginning balance 5,218,033 4,213,977  
Granted 11,026,451 1,267,700  
Forfeited / Canceled (862,631) (263,644)  
Outstanding, ending balance 15,381,853 5,218,033 4,213,977
Options vested and expected to vest 9,476,369    
Options exercisable 4,065,023    
Weighted Average Exercise Price      
Outstanding, beginning balance $ 8.69 $ 10.33  
Granted 2.10 3.81  
Forfeited / Canceled 8.07 12.12  
Outstanding, ending balance 4.21 $ 8.69 $ 10.33
Options vested and expected to vest 5.40    
Options exercisable $ 8.54    
Weighted Average Remaining Contractual Term (In years)      
Outstanding, balance 8 years 10 months 24 days 8 years 1 month 6 days 8 years 4 months 24 days
Options vested and expected to vest 8 years 2 months 12 days    
Options exercisable 7 years    
Aggregate Intrinsic Value      
Aggregate intrinsic value, Outstanding $ 235    
Options vested and expected to vest 235    
Options exercisable $ 0