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Stockholders' Equity - Activity under Plans (Detail) - 2020 Equity Incentive Plan [Member]
$ / shares in Units, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, beginning of period | shares 11,039,551  
Number of Shares, Forfeited | shares (509,005)  
Number of Shares, Exercised | shares (286,599)  
Number of Shares, Outstanding, end of period | shares 10,243,947 11,039,551
Number of Shares, Vested and expected to vest | shares 10,209,073 10,951,967
Number of Shares, Options exercisable | shares 9,959,014 10,417,259
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period | $ / shares $ 5.23  
Number of Shares, Forfeited, Weighted Average Exercise Price | $ / shares 5.42  
Number of Shares, Exercised, Weighted Average Exercise Price | $ / shares 1.99  
Number of Shares, Outstanding, Weighted Average Exercise Price, end of period | $ / shares 5.25 $ 5.23
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period | $ / shares 5.09 5.02
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period | $ / shares $ 5.07 $ 4.97
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 5 years 1 month 6 days 5 years 6 months
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 5 years 1 month 6 days 5 years 6 months
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 5 years 1 month 6 days 5 years 4 months 24 days
Number of Shares, Outstanding, Aggregate Intrinsic Value | $ $ 32 $ 996
Number of Shares, Vested and expected to vest, Aggregate Intrinsic Value | $ 32 996
Number of Shares, Options exercisable, Aggregate Intrinsic Value | $ $ 32 $ 996