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Equity Incentive Plans - Summary of Company stock Option Activity (Detail) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of Shares 4,819,906  
Number of Shares, Granted 1,360,308  
Number of Shares, Forfeited/cancelled (829,897)  
Number of Shares, Exercised (370,127)  
Number of Shares 4,980,190 4,819,906
Vested and exercisable as of December 31, 2023 2,670,019  
Vested and expected to vest as of December 31, 2023 4,980,190  
Weighted-Average Exercise Price $ 9.67  
Weighted-Average Exercise Price, Grants 6.37  
Weighted-Average Exercise Price, Forfeited/cancelled 12.18  
Weighted-Average Exercise Price, Exercised 1.03  
Weighted-Average Exercise Price 9 $ 9.67
Weighted-Average Exercise Price, Vested and exercisable 8.62  
Weighted-Average Exercise Price, Expected to vest $ 9  
Weighted Average Remaining Contractual Term 7 years 4 months 24 days 7 years 8 months 12 days
Weighted average contractual term, vested and exercisable 6 years 4 months 24 days  
Weighted average contractual term, vested and expected 7 years 4 months 24 days  
Average Intrinsic Value $ 19,463  
Average Intrinsic Value 5,924 $ 19,463
Average Intrinsic Value, Vested and exercisable as of December 31, 2023 3,797  
Average Intrinsic Value, Vested and expected to vest as of December 31, 2023 $ 5,924