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Stockholders' Equity - Schedule of Reserved Shares of Common Stock for Future Issuance (Detail) - shares
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common shares reserved for future issuance 39,145,393 42,489,050
Stock options    
Class of Stock [Line Items]    
Common shares reserved for future issuance 1,970,536 1,740,308
Restricted Stock Units    
Class of Stock [Line Items]    
Common shares reserved for future issuance 2,194,251 633,270
Warrant | March 2018 Public Offering    
Class of Stock [Line Items]    
Common shares reserved for future issuance 0 798,810
Warrant | December 2020 Public Offering Series 2    
Class of Stock [Line Items]    
Common shares reserved for future issuance 6,800,000 6,800,000
Warrant | Prefunded Warrants to Purchase Common Stock Associated with December 2020 Public Offering    
Class of Stock [Line Items]    
Common shares reserved for future issuance 3,200,000 3,200,000
Warrant | Warrants to Purchase Common Stock Associated With April 2022 Public Offering    
Class of Stock [Line Items]    
Common shares reserved for future issuance 15,000,000 15,000,000
Warrant | April 2022 Public Offering    
Class of Stock [Line Items]    
Common shares reserved for future issuance 7,516,267 11,666,667
Warrant | Warrant to purchase common stock associated with Danforth    
Class of Stock [Line Items]    
Common shares reserved for future issuance 50,000 50,000
Warrant | Warrants to purchase common stock associated with Loan Agreement    
Class of Stock [Line Items]    
Common shares reserved for future issuance 198,811 198,811
March 2019 Notes    
Class of Stock [Line Items]    
Common shares reserved for future issuance 1,138,200 1,138,200
2014 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Common shares reserved for future issuance 279 0
2014 Plan    
Class of Stock [Line Items]    
Common shares reserved for future issuance 504,074 712,020
2015 Plan    
Class of Stock [Line Items]    
Common shares reserved for future issuance 572,975 550,964