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Stockholders' Equity - Activity under Plans (Detail) - 2020 Equity Incentive Plan [Member] - $ / shares
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, beginning of period 9,989,049  
Number of Shares, Forfeited (170,819)  
Number of Shares, Outstanding, end of period 9,818,230 9,989,049
Number of Shares, Vested and expected to vest 9,810,553 9,978,545
Number of Shares, Options exercisable 9,807,262 9,906,925
Number of Shares, Outstanding, Weighted Average Exercise Price, beginning of period $ 5.09  
Number of Shares, Forfeited, Weighted Average Exercise Price 5.67  
Number of Shares, Outstanding, Weighted Average Exercise Price, end of period 5.08 $ 5.09
Number of Shares,Vested and expected to vest, Weighted Average Exercise Price, end of period 5.08 5.09
Number of Shares, Options exercisable, Weighted Average Exercise Price, end of period $ 5.08 $ 5.08
Number of Shares, Outstanding, Weighted Average Remaining Contractual Term (years) 4 years 4 months 24 days 4 years 7 months 6 days
Number of Shares, Vested and expected to vest, Weighted Average Remaining Contractual Term (years) 4 years 4 months 24 days 4 years 7 months 6 days
Number of Shares, Options exercisable, Weighted Average Remaining Contractual Term (years) 4 years 4 months 24 days 4 years 7 months 6 days