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Stockholders' Equity - Activity under Plans (Detail) - 2020 Equity Incentive Plan [Member] - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, beginning of period 15,893,755  
Number of Shares, Granted 0 0
Number of Shares, Forfeited (2,081,214)  
Number of Shares, Expired (82,542)  
Number of Shares, Exercised (2,690,448)  
Number of Shares, Outstanding, end of period 11,039,551 15,893,755
Number of Shares, Vested and expected to vest 10,951,967  
Number of Shares, Options exercisable 10,417,259  
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period $ 4.81  
Number of Shares, Forfeited, Weighted Average Exercise Price 6.04  
Number of Shares, Expired, Weighted Average Exercise Price 5.58  
Number of Shares, Exercised, Weighted Average Exercise Price 2.11  
Number of Shares, Outstanding, Weighted Average Exercise Price, end of period 5.23 $ 4.81
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period 5.02  
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period $ 4.97  
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 5 years 6 months 5 years 10 months 24 days
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 5 years 6 months  
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 5 years 4 months 24 days  
Number of Shares, Outstanding, Aggregate Intrinsic Value $ 996 $ 23,876
Number of Shares, Vested and expected to vest, Aggregate Intrinsic Value 996  
Number of Shares, Options exercisable, Aggregate Intrinsic Value $ 996