Summary of Significant Accounting Policies - Summary of Potentially Dilutive Securities Excluded from Calculation of Diluted Net Loss Per Share (Detail) - shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	3,395,907	3,555,148
Warrants to purchase common stock [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	14,440	64,440
Options to purchase common stock [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	3,167,730	3,484,914
Employee stock purchase plan [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	6,511	5,794
Restricted stock units [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	182,911
Restricted stock awards [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share Amount	24,315