Equity Plans and Stock-Based Compensation - Option Activity under Stock-Based Compensation Plans (Detail) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Shares Underlying Outstanding Options
Beginning balance	9,339
Options granted	1,982
Options exercised	(850)
Options cancelled:
Options forfeited (unvested)	(90)
Options expired (vested)	(261)
Ending balance	10,120	9,339
Vested and expected to vest at December 31, 2023	9,976
Exercisable at December 31, 2023	7,014
Weighted-Average Exercise Price Per Share
Beginning balance	$ 10.7
Options granted	11.17
Options exercised	7.48
Options cancelled:
Options forfeited (unvested)	10.93
Options expired (vested)	21.39
Ending balance	10.78	$ 10.7
Vested and expected to vest at December 31, 2023	10.77
Exercisable at December 31, 2023	$ 10.4
Weighted-Average Remaining Contractual Term (years)
Balance at December 31	4 years 2 months 4 days	4 years 7 months 9 days
Vested and expected to vest at December 31, 2023	4 years 1 month 24 days
Exercisable at December 31, 2023	3 years 6 months
Aggregate Intrinsic Value
Balance at December 31, 2022	$ 16,291
Balance at December 31, 2023	37,388	$ 16,291
Vested and expected to vest at December 31, 2023	37,024
Exercisable at December 31, 2023	$ 29,613