Stock Plans - Schedule of Stock Option Activity (Detail) - Stock Options [Member] $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2024 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options, Outstanding, Beginning Balance | shares	5,506,374
Options Exercised | shares	(23,521)
Options Forfeited | shares	(208,250)
Options Expired | shares	(214,780)
Options, Outstanding, Ending Balance | shares	5,059,823
Options Exercisable at June 30, 2024 | shares	4,723,248
Weighted-Average Exercise Price, Outstanding, Beginning Balance | $ / shares	$ 13.81
Weighted-Average Exercise Price, Options Exercised | $ / shares	2.81
Weighted-Average Exercise Price, Options Forfeited | $ / shares	10.48
Weighted-Average Exercise Price, Options Expired | $ / shares	13.42
Weighted-Average Exercise Price, Outstanding, Ending Balance | $ / shares	14.01
Weighted-Average Exercise Price, Exercisable | $ / shares	$ 14.08
Weighted-Average Remaining Contractual Term, Outstanding	3 years 10 months 24 days
Weighted-Average Remaining Exercisable	3 years 7 months 6 days
Weighted-Average Aggregate Intrinsic Value | $	$ 56
Weighted-Average Aggregate Intrinsic Value, Exercisable | $	$ 56