Equity Incentive Plan - Schedule of Stock Option Activity Under 2019 Plan (Detail) - 2019 Plan [Member] - USD ($)	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning balance	5,757,779
Options granted	990,296
Options forfeited	(25,190)
Options expired	(160,942)
Options outstanding, ending balance	6,561,943	5,757,779
Options vested and exercisable	4,509,168
Options vested and expected to vest	6,561,943
Weighted average exercise price, beginning balance	$ 7.92
Weighted average exercise price, granted	1.05
Weighted average exercise price, forfeited	5.58
Weighted average exercise price, expired	8.08
Weighted average exercise price, ending balance	9.88	$ 7.92
Weighted average exercise price, vested and exercisable	8.22
Weighted average exercise price, vested and expected to vest	$ 9.88
Weighted average remaining contractual term, balance	7 years 3 months 29 days	7 years 7 months 6 days
Options vested and exercisable, September 30, 2023	6 years 8 months 1 day
Options vested and expected to vest, September 30, 2023	7 years 3 months 29 days
Aggregate intrinsic value, vested and Granted	$ 1,330,150
Aggregate intrinsic value, Ending balance	$ 1,330,150
Aggregate intrinsic value, vested and expected to vest	$ 1,330,150