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Balance Sheet Components - Schedule of Accrued Liabilities (Detail) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Balance Sheet Related Disclosures [Abstract] |  |
Accrued payroll and related expenses | $ 2,424 | $ 3,964
Accrued research and development expenses | 971 | 1,665
Accrued restructuring charges | 225 | 0
Accrued professional service fees | 108 | 638
Liability for early exercised stock options | 7 | 89
Other | 218 | 492
Accrued and other liabilities | $ 3,953 | $ 6,848

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