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Stockholders' Equity - Activity under Plans (Detail) - 2020 Equity Incentive Plan [Member] - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 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 (581,830)  
Number of Shares, Expired (6,160)  
Number of Shares, Exercised (286,599)  
Number of Shares, Outstanding, end of period 10,164,962 11,039,551
Number of Shares, Vested and expected to vest 10,145,752 10,951,967
Number of Shares, Options exercisable 9,988,146 10,417,259
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period $ 5.23  
Number of Shares, Forfeited, Weighted Average Exercise Price 5.46  
Number of Shares, Expired, Weighted Average Exercise Price 1.77  
Number of Shares, Exercised, Weighted Average Exercise Price 1.99  
Number of Shares, Outstanding, Weighted Average Exercise Price, end of period 5.25 $ 5.23
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period 5.09 5.02
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period $ 5.07 $ 4.97
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 4 years 10 months 24 days 5 years 6 months
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 4 years 10 months 24 days 5 years 6 months
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 4 years 10 months 24 days 5 years 4 months 24 days
Number of Shares, Outstanding, Aggregate Intrinsic Value   $ 996
Number of Shares, Vested and expected to vest, Aggregate Intrinsic Value   996
Number of Shares, Options exercisable, Aggregate Intrinsic Value   $ 996