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Equity Incentive Plan - Schedule of Stock Option Activity Under 2019 Plan (Detail) - 2019 Plan [Member]
6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Options outstanding, beginning balance | shares 5,757,779  
Options granted | shares 987,796  
Options forfeited | shares (17,405)  
Options expired | shares (137,398)  
Options outstanding, ending balance | shares 6,590,772 5,757,779
Options vested and exercisable | shares 4,480,069  
Options vested and expected to vest | shares 6,590,772  
Weighted average exercise price, beginning balance $ 7.92  
Weighted average exercise price, granted 1.05  
Weighted average exercise price, forfeited 6.15  
Weighted average exercise price, expired 8.07  
Weighted average exercise price, ending balance 6.89 $ 7.92
Weighted average exercise price, vested and exercisable 8.20  
Weighted average exercise price, vested and expected to vest $ 6.89  
Weighted average remaining contractual term, balance 7 years 6 months 29 days 7 years 7 months 6 days
Options vested and exercisable, June 30, 2023 6 years 11 months 1 day  
Options vested and expected to vest, June 30, 2023 7 years 6 months 29 days  
Aggregate intrinsic value, vested and Granted $ 1,183,255  
Aggregate intrinsic value, Ending balance | $ $ 1,183,255  
Aggregate intrinsic value, vested and expected to vest | $ $ 1,183,255