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Stockholders' Equity - Activity under Plans (Detail) - 2020 Equity Incentive Plan [Member] - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, beginning of period 11,039,551  
Number of Shares, Forfeited (173,320)  
Number of Shares, Exercised (128,572)  
Number of Shares, Outstanding, end of period 10,737,659 11,039,551
Number of Shares, Vested and expected to vest 10,681,404 10,951,967
Number of Shares, Options exercisable 10,343,741 10,417,259
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period $ 5.23  
Number of Shares, Forfeited, Weighted Average Exercise Price 5.80  
Number of Shares, Exercised, Weighted Average Exercise Price 2.25  
Number of Shares, Outstanding, Weighted Average Exercise Price, end of period 5.24 $ 5.23
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period 5.05 5.02
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period $ 5.01 $ 4.97
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 5 years 3 months 18 days 5 years 6 months
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 5 years 3 months 18 days 5 years 6 months
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 5 years 2 months 12 days 5 years 4 months 24 days
Number of Shares, Outstanding, Aggregate Intrinsic Value $ 207 $ 996
Number of Shares, Vested and expected to vest, Aggregate Intrinsic Value 207 996
Number of Shares, Options exercisable, Aggregate Intrinsic Value $ 207 $ 996