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Stock-Based Compensation and Employee Stock Purchase Program - Summary of Activity Under Stock Incentive Plans (Detail)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]  
Shares Subject to Outstanding, Beginning Balance | shares 1,422,195
Shares Subject to Outstanding, Options granted | shares 1,030,822
Shares Subject to Outstanding, Options Forfeited | shares (130,263)
Shares Subject to Outstanding, Options Expired | shares (39,105)
Shares Subject to Outstanding, Ending Balance | shares 2,283,649
Shares Subject to Outstanding, Vested and expected to vest | shares 2,011,343
Shares Subject to Outstanding, Exercisable | shares 862,726
Weighted-Average Exercise Price Per Share, Outstanding Beginning Balance | $ / shares $ 5.28
Weighted-Average Exercise Price Per Share, Options granted | $ / shares 1.16
Weighted-Average Exercise Price Per Share, Options forfeited | $ / shares 2.86
Weighted-Average Exercise Price Per Share, Options expired | $ / shares 6.21
Weighted Average Exercise Price Per Share, Outstanding Ending Balance | $ / shares 3.54
Weighted Average Exercise Price Per Share, Vested and expected to vest | $ / shares 3.82
Weighted Average Exercise Price Per Share, Exercisable | $ / shares $ 6.76
Aggregate Intrinsic Value, Vested and expected to vest | $ $ 31,230
Aggregate Intrinsic Value, Exercisable | $ $ 24,452