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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, 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 (757,743)  
Number of Shares, Expired (6,160)  
Number of Shares, Exercised (286,599)  
Number of Shares, Outstanding, end of period 9,989,049 11,039,551
Number of Shares, Vested and expected to vest 9,978,545  
Number of Shares, Options exercisable 9,906,925  
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period $ 5.23  
Number of Shares, Forfeited, Weighted Average Exercise Price 5.44  
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 5.09 $ 5.23
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period 5.09  
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period $ 5.08  
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 4 years 7 months 6 days 5 years 6 months
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 4 years 7 months 6 days  
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 4 years 7 months 6 days  
Number of Shares, Outstanding, Aggregate Intrinsic Value   $ 996