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Notes Payable - Additional Information (Detail) - USD ($)			1 Months Ended		12 Months Ended
	Mar. 24, 2017	Oct. 28, 2016	Mar. 31, 2017	Oct. 31, 2016	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Loan borrowed amount					$ 776,000	$ 887,000	$ 500,000
Loan and Security Agreement \| LIBOR
Debt Instrument [Line Items]
Debt instrument, interest rate floor				0.50%
Loan and Security Agreement \| Horizon Technology Finance Corporation and Silicon Valley Bank
Debt Instrument [Line Items]
Loan borrowed amount				$ 20,000,000
Debt instrument, interest rate floor				10.50%
Warrants expiration period		7 years
Interest expense related to loan agreement					$ 0		$ 700,000
Loan agreement termination period					2020-12
Loan and Security Agreement \| Horizon Technology Finance Corporation and Silicon Valley Bank \| Tranche One
Debt Instrument [Line Items]
Loan borrowed amount				$ 12,500,000
Debt instrument, final payment				$ 800,000
Debt instrument, maturity date				May 01, 2020
Warrants to purchase shares of common stock (in shares)		152,580
Exercise price of warrants (usd per share)		$ 6.39
Warrant shares percentage issued of loan amount		6.00%
Loan and Security Agreement \| Horizon Technology Finance Corporation and Silicon Valley Bank \| Tranche Two
Debt Instrument [Line Items]
Loan borrowed amount			$ 7,500,000
Debt instrument, final payment				$ 500,000
Debt instrument, maturity date				Oct. 01, 2020
Warrants to purchase shares of common stock (in shares)	38,006
Exercise price of warrants (usd per share)	$ 5.92
Warrant shares percentage issued of loan amount	3.00%	3.00%
Loan and Security Agreement \| Horizon Technology Finance Corporation and Silicon Valley Bank \| Tranche One And Two
Debt Instrument [Line Items]
Debt instrument, final payment					$ 800,000